rtabmap/api/latest/group__RemoveNaNFromPointCloud.html

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<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle"><div class="title">Remove NaN Points from a Point Cloud</div></div>
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<p>Removes NaN (Not-a-Number) points from an organized point cloud.  
<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:ga307cddc4476370cc25e5f67fd13af865" id="r_ga307cddc4476370cc25e5f67fd13af865"><td class="memItemLeft" align="right" valign="top"><a id="ga307cddc4476370cc25e5f67fd13af865" name="ga307cddc4476370cc25e5f67fd13af865"></a>
pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::removeNaNFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud)</td></tr>
<tr class="memdesc:ga307cddc4476370cc25e5f67fd13af865"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove NaN points from a point cloud of type <code>pcl::PointXYZ</code>. <br /></td></tr>
<tr class="separator:ga307cddc4476370cc25e5f67fd13af865"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2c98d8e54fff76606352c87edc378c31" id="r_ga2c98d8e54fff76606352c87edc378c31"><td class="memItemLeft" align="right" valign="top"><a id="ga2c98d8e54fff76606352c87edc378c31" name="ga2c98d8e54fff76606352c87edc378c31"></a>
pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::removeNaNFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud)</td></tr>
<tr class="memdesc:ga2c98d8e54fff76606352c87edc378c31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove NaN points from a point cloud of type <code>pcl::PointXYZRGB</code>. <br /></td></tr>
<tr class="separator:ga2c98d8e54fff76606352c87edc378c31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga30ecdbed3fd26b750dcb0e63ea8c68b1" id="r_ga30ecdbed3fd26b750dcb0e63ea8c68b1"><td class="memItemLeft" align="right" valign="top"><a id="ga30ecdbed3fd26b750dcb0e63ea8c68b1" name="ga30ecdbed3fd26b750dcb0e63ea8c68b1"></a>
pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::removeNaNFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud)</td></tr>
<tr class="memdesc:ga30ecdbed3fd26b750dcb0e63ea8c68b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove NaN points from a point cloud of type <code>pcl::PointXYZI</code>. <br /></td></tr>
<tr class="separator:ga30ecdbed3fd26b750dcb0e63ea8c68b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gab8b441e9acbafb0f36a0f4567e9535d6" id="r_gab8b441e9acbafb0f36a0f4567e9535d6"><td class="memItemLeft" align="right" valign="top"><a id="gab8b441e9acbafb0f36a0f4567e9535d6" name="gab8b441e9acbafb0f36a0f4567e9535d6"></a>
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::removeNaNFromPointCloud</b> (const pcl::PCLPointCloud2::Ptr &amp;cloud)</td></tr>
<tr class="memdesc:gab8b441e9acbafb0f36a0f4567e9535d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove NaN points from a point cloud of type <code>pcl::PCLPointCloud2</code>. <br /></td></tr>
<tr class="separator:gab8b441e9acbafb0f36a0f4567e9535d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Removes NaN (Not-a-Number) points from an organized point cloud. </p>
<p>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 <code>pcl::removeNaNFromPointCloud</code> to perform the filtering.</p>
<dl class="section note"><dt>Note</dt><dd>If the input cloud is already dense, no filtering happens and a copy of the input cloud is returned.</dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>The organized input point cloud containing possible NaN values. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A new dense point cloud with NaN points removed. </dd></dl>
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