Split Range Filtering of PCL Point Clouds

Splits a point cloud into two groups based on a distance threshold. More...

Functions
void RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
	Splits a point cloud of type pcl::PointXYZ.
void RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
	Splits a point cloud of type pcl::PointXYZRGB.
void RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
	Splits a point cloud of type pcl::PointNormal.
void RTABMAP_CORE_EXPORT	rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
	Splits a point cloud of type pcl::PointXYZRGBNormal.

Detailed Description

Splits a point cloud into two groups based on a distance threshold.

This function divides the input point cloud (or a subset specified by indices) into two sets of indices: points closer than the given range (closeIndices) and points farther than or equal to the range (farIndices), using Euclidean distance.

Parameters

	cloud	The input point cloud.
	indices	The subset of point indices to consider. If empty, the full cloud is used.
	range	The distance threshold in meters used to classify points as "close" or "far".
[out]	closeIndices	Output indices for points with distance < range.
[out]	farIndices	Output indices for points with distance >= range.

Note

The function resets and fills both output index containers. If the input cloud is empty, both outputs will also be empty.