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< a href = "#func-members" > Functions</ a > </ div >
< div class = "headertitle" >< div class = "title" > Crop Box Filtering</ div ></ div >
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< p > Filters points from a point cloud using a 3D crop box.
< a href = "#details" > More...</ a ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "func-members" name = "func-members" ></ a >
Functions</ h2 ></ td ></ tr >
< tr class = "memitem:ga8291151381ff38773e641740b66b93ef" id = "r_ga8291151381ff38773e641740b66b93ef" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ga8291151381ff38773e641740b66b93ef" name = "ga8291151381ff38773e641740b66b93ef" ></ a >
pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PCLPointCloud2::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga8291151381ff38773e641740b66b93ef" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PCLPointCloud2</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga668e8d0a8a8abd65500bd7e7b748eec2" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZ</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointNormal > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:gaa6737135785f73d1a2f3ec966ab22bc7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointNormal</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga20a5eeed65c38958ed5866216f26bd44" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZRGB</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga3b4c45a05e5bc0ff7d4c3917103e4f29" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZRGBNormal</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZI > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga43309cd4b35fcbe7a746ccb1dc9a1b4f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZI</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::IndicesPtr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZINormal > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga0fe7f976bca4c8ec9dd0afa95f590c72" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZINormal</ code > and returns filtered indices. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga15f14d0a8c9de82ff3ad398fa8c36097" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZ</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointNormal > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga1302fc8f7569390d2d9a6a66c24f5179" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointNormal</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga1f23604e3b58f73183fe3102dd9f86c9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZRGB</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZI > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZI > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga8065c61da2295bf203e4ee7471e9332d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZI</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZINormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZINormal > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga5d5cafb95fb856438e55a0de06378ef7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZINormal</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::cropBox</ b > (const pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr & cloud, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool negative=false)</ td ></ tr >
< tr class = "memdesc:ga32e6cd849848faaccc6b46ba02f98f6b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs crop box filtering on a point cloud of type < code > pcl::PointXYZRGBNormal</ code > and returns a new point cloud of the filtered points. < br /></ td ></ tr >
< tr class = "separator:ga32e6cd849848faaccc6b46ba02f98f6b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< p > Filters points from a point cloud using a 3D crop box. </ p >
< p > This function applies a PCL < code > CropBox</ code > filter to retain or exclude points from the input point cloud that lie within a specified 3D axis-aligned bounding box, optionally transformed by a 3D transformation. The filter can be applied to the entire cloud or limited to a subset via input indices.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cloud</ td >< td > A pointer to the input point cloud to be filtered. </ td ></ tr >
< tr >< td class = "paramname" > indices</ td >< td > A pointer to a vector of point indices that restricts the filtering to a subset of the cloud. Pass < code > nullptr</ code > to apply the filter to all points in the cloud. </ td ></ tr >
< tr >< td class = "paramname" > min</ td >< td > The minimum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _). </ td ></ tr >
< tr >< td class = "paramname" > max</ td >< td > The maximum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _). </ td ></ tr >
< tr >< td class = "paramname" > transform</ td >< td > A transformation to be applied to the crop box (not the cloud). If the transform is null or identity, no transformation is applied. </ td ></ tr >
< tr >< td class = "paramname" > negative</ td >< td > If < code > true</ code > , the filter will exclude points inside the box; if < code > false</ code > , it will include only those inside.</ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > The indices corresponding to the points that passed the filter, or the new filtered point cloud otherwise.</ dd ></ dl >
< dl class = "exception" >< dt > Exceptions</ dt >< dd >
< table class = "exception" >
< tr >< td class = "paramname" > Assertion</ td >< td > failure if any of < code > min[x] > = max[x]</ code > , < code > min[y] > = max[y]</ code > , or < code > min[z] > = max[z]</ code > . </ td ></ tr >
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