Remove NaN Points from a Point Cloud

Removes NaN (Not-a-Number) points from an organized point cloud. More...

Functions
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
	Remove NaN points from a point cloud of type pcl::PointXYZ.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)
	Remove NaN points from a point cloud of type pcl::PointXYZRGB.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud)
	Remove NaN points from a point cloud of type pcl::PointXYZI.
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::removeNaNFromPointCloud (const pcl::PCLPointCloud2::Ptr &cloud)
	Remove NaN points from a point cloud of type pcl::PCLPointCloud2.

Detailed Description

Removes NaN (Not-a-Number) points from an organized point cloud.

This function takes a pointer to an organized PCL point cloud and returns a new dense point cloud with all NaN points removed. It uses the PCL function pcl::removeNaNFromPointCloud to perform the filtering.

Note

If the input cloud is already dense, no filtering happens and a copy of the input cloud is returned.

Parameters

cloud

The organized input point cloud containing possible NaN values.

Returns

A new dense point cloud with NaN points removed.