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Update documentation (latest) 829c3c157a
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Update documentation (latest) 9ed83a71db
2026-09-20 06:51:14 +00:00
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.12</span>
Update documentation (latest) 829c3c157a
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<a href="#func-members">Functions</a> </div>
<div class="headertitle"><div class="title">Point Cloud Indices Extraction</div></div>
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<p>Extracts a subset of points from a point cloud based on specified indices.
<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:ga8685395807479f06b19d9d41616a03a7" id="r_ga8685395807479f06b19d9d41616a03a7"><td class="memItemLeft" align="right" valign="top"><a id="ga8685395807479f06b19d9d41616a03a7" name="ga8685395807479f06b19d9d41616a03a7"></a>
pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:ga8685395807479f06b19d9d41616a03a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointXYZ</code>. <br /></td></tr>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:ga8ce0dc4070d599c6f4a8c55651c2f944"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointNormal</code>. <br /></td></tr>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:ga0c8a4fe56efba09d2bf6c5b84da36702"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointXYZRGB</code>. <br /></td></tr>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:ga93acd3d20cbab15b628cbc2a0f3b1919"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointXYZRGBNormal</code>. <br /></td></tr>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:gaf8e635d6864b0a7f41bad4bb185a57f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointXYZI</code>. <br /></td></tr>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative)</td></tr>
<tr class="memdesc:gae196609121fa899ba2735d406aedc73b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract indices from point cloud of type <code>pcl::PointXYZINormal</code>. <br /></td></tr>
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pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative, bool keepOrganized)</td></tr>
<tr class="memdesc:ga2a39a8e9d769e5e2cea8054b7084af1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract points from point cloud of type <code>pcl::PointXYZ</code> with corresponding indices. <br /></td></tr>
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pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative, bool keepOrganized)</td></tr>
<tr class="memdesc:gaca2188ec4a875fb9c6d2fa240888dcf1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract points from point cloud of type <code>pcl::PointXYZRGB</code> with corresponding indices. <br /></td></tr>
<tr class="separator:gaca2188ec4a875fb9c6d2fa240888dcf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative, bool keepOrganized)</td></tr>
<tr class="memdesc:gaf6cd58fdda3450fb11496395e35908d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract points from point cloud of type <code>pcl::PointXYZRGBNormal</code> with corresponding indices. <br /></td></tr>
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pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative, bool keepOrganized)</td></tr>
<tr class="memdesc:gad759e35639cd87f04ebd09eadb5865f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract points from point cloud of type <code>pcl::PointXYZI</code> with corresponding indices. <br /></td></tr>
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pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractIndices</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, bool negative, bool keepOrganized)</td></tr>
<tr class="memdesc:gaa312bb0ae54f1472d4e4f22bee7cc4d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract points from point cloud of type <code>pcl::PointXYZINormal</code> with corresponding indices. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Extracts a subset of points from a point cloud based on specified indices. </p>
<p>This function filters the input point cloud by extracting the points corresponding to the provided set of indices. The <code>negative</code> parameter determines whether to extract the points listed in the indices (if <code>negative</code> is false) or to exclude the points listed in the indices (if <code>negative</code> is true).</p>
<p>The function uses PCL's <code>ExtractIndices</code> to perform the extraction and returns the resulting set of indices as a shared pointer to a vector of integers.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">cloud</td><td>The input point cloud from which to extract points. </td></tr>
<tr><td class="paramname">indices</td><td>A pointer to the indices specifying the points to be extracted (or excluded). </td></tr>
<tr><td class="paramname">negative</td><td>If true, the points specified by <code>indices</code> are excluded; otherwise, they are included.</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A vector of indices representing the extracted points (or remaining points if <code>negative</code> is true), or a new point cloud with the corresponding points.</dd></dl>
<dl class="section note"><dt>Note</dt><dd>This function uses PCL's <code>ExtractIndices</code> filter to extract or remove the points based on the provided indices. </dd>
<dd>
The returned <code>output</code> indices correspond to the points that are either extracted or excluded from the input cloud. </dd></dl>
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