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<a href="#func-members">Functions</a> </div>
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<div class="headertitle"><div class="title">Pass-through Filtering</div></div>
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<p>Filters points from the input point cloud using a pass-through filter along a specified axis.
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<a href="#details">More...</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga7bfc95ed4f7fca124b00707708223473" id="r_ga7bfc95ed4f7fca124b00707708223473"><td class="memItemLeft" align="right" valign="top"><a id="ga7bfc95ed4f7fca124b00707708223473" name="ga7bfc95ed4f7fca124b00707708223473"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga7bfc95ed4f7fca124b00707708223473"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZ</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:ga7bfc95ed4f7fca124b00707708223473"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad674cecbb2b80e50ad8680265dd50905" id="r_gad674cecbb2b80e50ad8680265dd50905"><td class="memItemLeft" align="right" valign="top"><a id="gad674cecbb2b80e50ad8680265dd50905" name="gad674cecbb2b80e50ad8680265dd50905"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gad674cecbb2b80e50ad8680265dd50905"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZRGB</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:gad674cecbb2b80e50ad8680265dd50905"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gadb551e7530b9fa63b588e11704827b7b" id="r_gadb551e7530b9fa63b588e11704827b7b"><td class="memItemLeft" align="right" valign="top"><a id="gadb551e7530b9fa63b588e11704827b7b" name="gadb551e7530b9fa63b588e11704827b7b"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gadb551e7530b9fa63b588e11704827b7b"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZI</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:gadb551e7530b9fa63b588e11704827b7b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga9c4f395f1105d3c36861e922108bfbf0" id="r_ga9c4f395f1105d3c36861e922108bfbf0"><td class="memItemLeft" align="right" valign="top"><a id="ga9c4f395f1105d3c36861e922108bfbf0" name="ga9c4f395f1105d3c36861e922108bfbf0"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga9c4f395f1105d3c36861e922108bfbf0"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointNormal</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:ga9c4f395f1105d3c36861e922108bfbf0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2d23fe7a7205247ae3152525d19a18ec" id="r_ga2d23fe7a7205247ae3152525d19a18ec"><td class="memItemLeft" align="right" valign="top"><a id="ga2d23fe7a7205247ae3152525d19a18ec" name="ga2d23fe7a7205247ae3152525d19a18ec"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga2d23fe7a7205247ae3152525d19a18ec"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZRGBNormal</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:ga2d23fe7a7205247ae3152525d19a18ec"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga18c88abdd186757533cd7c9e825f540f" id="r_ga18c88abdd186757533cd7c9e825f540f"><td class="memItemLeft" align="right" valign="top"><a id="ga18c88abdd186757533cd7c9e825f540f" name="ga18c88abdd186757533cd7c9e825f540f"></a>
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pcl::IndicesPtr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga18c88abdd186757533cd7c9e825f540f"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZINormal</code> and returns filtered indices. <br /></td></tr>
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<tr class="separator:ga18c88abdd186757533cd7c9e825f540f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gad8ced1799837b05e34ec4bd871a129ba" id="r_gad8ced1799837b05e34ec4bd871a129ba"><td class="memItemLeft" align="right" valign="top"><a id="gad8ced1799837b05e34ec4bd871a129ba" name="gad8ced1799837b05e34ec4bd871a129ba"></a>
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pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gad8ced1799837b05e34ec4bd871a129ba"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through 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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<tr class="separator:gad8ced1799837b05e34ec4bd871a129ba"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gafe76c7bd4f68d8fe1518509564bf1f3d" id="r_gafe76c7bd4f68d8fe1518509564bf1f3d"><td class="memItemLeft" align="right" valign="top"><a id="gafe76c7bd4f68d8fe1518509564bf1f3d" name="gafe76c7bd4f68d8fe1518509564bf1f3d"></a>
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pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gafe76c7bd4f68d8fe1518509564bf1f3d"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through 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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<tr class="separator:gafe76c7bd4f68d8fe1518509564bf1f3d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga551c7a9b75aaf6f087f81e52f326e182" id="r_ga551c7a9b75aaf6f087f81e52f326e182"><td class="memItemLeft" align="right" valign="top"><a id="ga551c7a9b75aaf6f087f81e52f326e182" name="ga551c7a9b75aaf6f087f81e52f326e182"></a>
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pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga551c7a9b75aaf6f087f81e52f326e182"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through 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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<tr class="separator:ga551c7a9b75aaf6f087f81e52f326e182"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga4cef6e6f7cb447719417f118ff4e367d" id="r_ga4cef6e6f7cb447719417f118ff4e367d"><td class="memItemLeft" align="right" valign="top"><a id="ga4cef6e6f7cb447719417f118ff4e367d" name="ga4cef6e6f7cb447719417f118ff4e367d"></a>
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pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:ga4cef6e6f7cb447719417f118ff4e367d"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through 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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<tr class="separator:ga4cef6e6f7cb447719417f118ff4e367d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa6907857c69443b1bd879fcf6beef8a9" id="r_gaa6907857c69443b1bd879fcf6beef8a9"><td class="memItemLeft" align="right" valign="top"><a id="gaa6907857c69443b1bd879fcf6beef8a9" name="gaa6907857c69443b1bd879fcf6beef8a9"></a>
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pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gaa6907857c69443b1bd879fcf6beef8a9"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through filtering on a point cloud of type <code>pcl::PointXYZRGBNormal</code> and returns a new point cloud of the filtered points. <br /></td></tr>
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<tr class="separator:gaa6907857c69443b1bd879fcf6beef8a9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gab942c5914142128bce518c869f49f94d" id="r_gab942c5914142128bce518c869f49f94d"><td class="memItemLeft" align="right" valign="top"><a id="gab942c5914142128bce518c869f49f94d" name="gab942c5914142128bce518c869f49f94d"></a>
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pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::passThrough</b> (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)</td></tr>
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<tr class="memdesc:gab942c5914142128bce518c869f49f94d"><td class="mdescLeft"> </td><td class="mdescRight">Performs pass-through 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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<tr class="separator:gab942c5914142128bce518c869f49f94d"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>Filters points from the input point cloud using a pass-through filter along a specified axis. </p>
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<p>This function applies a PCL <code>PassThrough</code> filter to include or exclude points in the input cloud that fall within a specified range along a given axis (<code>x</code>, <code>y</code>, or <code>z</code>). It supports optional filtering using a subset of point indices and can perform either inclusive or exclusive filtering depending on the <code>negative</code> flag.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">cloud</td><td>A pointer to the input point cloud to be filtered. </td></tr>
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<tr><td class="paramname">indices</td><td>A pointer to the indices specifying which points in the cloud to consider for filtering. Pass <code>nullptr</code> to apply the filter to the entire cloud. </td></tr>
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<tr><td class="paramname">axis</td><td>The axis (<code>"x"</code>, <code>"y"</code>, or <code>"z"</code>) along which the filtering will be applied. </td></tr>
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<tr><td class="paramname">min</td><td>The minimum limit of the pass-through filter (inclusive by default). </td></tr>
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<tr><td class="paramname">max</td><td>The maximum limit of the pass-through filter (inclusive by default). Must be greater than <code>min</code>. </td></tr>
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<tr><td class="paramname">negative</td><td>If <code>true</code>, the filter will exclude points within the limits; if <code>false</code>, it will include only those within.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>The indices representing the points that passed the filter if indices are passed to the function, or the new filtered point cloud otherwise.</dd></dl>
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<dl class="exception"><dt>Exceptions</dt><dd>
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<table class="exception">
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<tr><td class="paramname">Assertion</td><td>failure if <code>max <= min</code> or if <code>axis</code> is not <code>"x"</code>, <code>"y"</code>, or <code>"z"</code>. </td></tr>
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</table>
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</dd>
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</dl>
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