Pass-through Filtering

Filters points from the input point cloud using a pass-through filter along a specified axis. More...

Functions
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns filtered indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns filtered indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns filtered indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns filtered indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns filtered indices.
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns a new point cloud of the filtered points.
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns a new point cloud of the filtered points.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns a new point cloud of the filtered points.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
	Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns a new point cloud of the filtered points.

Detailed Description

Filters points from the input point cloud using a pass-through filter along a specified axis.

This function applies a PCL PassThrough filter to include or exclude points in the input cloud that fall within a specified range along a given axis (x, y, or z). It supports optional filtering using a subset of point indices and can perform either inclusive or exclusive filtering depending on the negative flag.

Parameters

cloud	A pointer to the input point cloud to be filtered.
indices	A pointer to the indices specifying which points in the cloud to consider for filtering. Pass nullptr to apply the filter to the entire cloud.
axis	The axis ("x", "y", or "z") along which the filtering will be applied.
min	The minimum limit of the pass-through filter (inclusive by default).
max	The maximum limit of the pass-through filter (inclusive by default). Must be greater than min.
negative	If true, the filter will exclude points within the limits; if false, it will include only those within.

Returns

The indices representing the points that passed the filter if indices are passed to the function, or the new filtered point cloud otherwise.

Exceptions

Assertion

failure if max <= min or if axis is not "x", "y", or "z".