Range Filtering of PCL Point Clouds

Filters a point cloud based on a minimum and maximum Euclidean range. More...

Functions
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
	Filters a point cloud of type pcl::PointXYZ.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
	Filters a point cloud of type pcl::PointXYZRGB.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
	Filters a point cloud of type pcl::PointNormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
	Filters a point cloud of type pcl::PointXYZRGBNormal.

Detailed Description

Filters a point cloud based on a minimum and maximum Euclidean range.

This templated function computes the squared Euclidean distance of each point in the given point cloud and returns indices of points whose distance falls within the specified range limits. If no indices are provided, the entire cloud is evaluated.

Parameters

cloud	The input point cloud to be filtered.
indices	The subset of point indices to evaluate. If empty, the full cloud is used.
rangeMin	Minimum distance threshold. Points closer than this are excluded.
rangeMax	Maximum distance threshold. Points farther than this are excluded.

Returns

pcl::IndicesPtr Pointer to a vector of indices that passed the range filter.

Note

Both rangeMin and rangeMax must be non-negative. If both are zero, no filtering is applied.

Exceptions

Assertion

failure if rangeMin or rangeMax is negative.