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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#func-members">Functions</a> </div>
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<p>Filters points from a point cloud using a 3D crop box.
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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:ga8291151381ff38773e641740b66b93ef" id="r_ga8291151381ff38773e641740b66b93ef"><td class="memItemLeft" align="right" valign="top"><a id="ga8291151381ff38773e641740b66b93ef" name="ga8291151381ff38773e641740b66b93ef"></a>
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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>
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<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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<tr class="separator:ga8291151381ff38773e641740b66b93ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga668e8d0a8a8abd65500bd7e7b748eec2" id="r_ga668e8d0a8a8abd65500bd7e7b748eec2"><td class="memItemLeft" align="right" valign="top"><a id="ga668e8d0a8a8abd65500bd7e7b748eec2" name="ga668e8d0a8a8abd65500bd7e7b748eec2"></a>
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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>
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<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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<tr class="separator:ga668e8d0a8a8abd65500bd7e7b748eec2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gaa6737135785f73d1a2f3ec966ab22bc7" id="r_gaa6737135785f73d1a2f3ec966ab22bc7"><td class="memItemLeft" align="right" valign="top"><a id="gaa6737135785f73d1a2f3ec966ab22bc7" name="gaa6737135785f73d1a2f3ec966ab22bc7"></a>
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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>
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<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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<tr class="separator:gaa6737135785f73d1a2f3ec966ab22bc7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga20a5eeed65c38958ed5866216f26bd44" id="r_ga20a5eeed65c38958ed5866216f26bd44"><td class="memItemLeft" align="right" valign="top"><a id="ga20a5eeed65c38958ed5866216f26bd44" name="ga20a5eeed65c38958ed5866216f26bd44"></a>
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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>
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<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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<tr class="separator:ga20a5eeed65c38958ed5866216f26bd44"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga3b4c45a05e5bc0ff7d4c3917103e4f29" id="r_ga3b4c45a05e5bc0ff7d4c3917103e4f29"><td class="memItemLeft" align="right" valign="top"><a id="ga3b4c45a05e5bc0ff7d4c3917103e4f29" name="ga3b4c45a05e5bc0ff7d4c3917103e4f29"></a>
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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>
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<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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<tr class="separator:ga3b4c45a05e5bc0ff7d4c3917103e4f29"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga43309cd4b35fcbe7a746ccb1dc9a1b4f" id="r_ga43309cd4b35fcbe7a746ccb1dc9a1b4f"><td class="memItemLeft" align="right" valign="top"><a id="ga43309cd4b35fcbe7a746ccb1dc9a1b4f" name="ga43309cd4b35fcbe7a746ccb1dc9a1b4f"></a>
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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>
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<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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<tr class="separator:ga43309cd4b35fcbe7a746ccb1dc9a1b4f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0fe7f976bca4c8ec9dd0afa95f590c72" id="r_ga0fe7f976bca4c8ec9dd0afa95f590c72"><td class="memItemLeft" align="right" valign="top"><a id="ga0fe7f976bca4c8ec9dd0afa95f590c72" name="ga0fe7f976bca4c8ec9dd0afa95f590c72"></a>
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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>
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<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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<tr class="separator:ga0fe7f976bca4c8ec9dd0afa95f590c72"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga15f14d0a8c9de82ff3ad398fa8c36097" id="r_ga15f14d0a8c9de82ff3ad398fa8c36097"><td class="memItemLeft" align="right" valign="top"><a id="ga15f14d0a8c9de82ff3ad398fa8c36097" name="ga15f14d0a8c9de82ff3ad398fa8c36097"></a>
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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>
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<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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<tr class="separator:ga15f14d0a8c9de82ff3ad398fa8c36097"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1302fc8f7569390d2d9a6a66c24f5179" id="r_ga1302fc8f7569390d2d9a6a66c24f5179"><td class="memItemLeft" align="right" valign="top"><a id="ga1302fc8f7569390d2d9a6a66c24f5179" name="ga1302fc8f7569390d2d9a6a66c24f5179"></a>
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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>
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<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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<tr class="separator:ga1302fc8f7569390d2d9a6a66c24f5179"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1f23604e3b58f73183fe3102dd9f86c9" id="r_ga1f23604e3b58f73183fe3102dd9f86c9"><td class="memItemLeft" align="right" valign="top"><a id="ga1f23604e3b58f73183fe3102dd9f86c9" name="ga1f23604e3b58f73183fe3102dd9f86c9"></a>
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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>
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<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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<tr class="separator:ga1f23604e3b58f73183fe3102dd9f86c9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga8065c61da2295bf203e4ee7471e9332d" id="r_ga8065c61da2295bf203e4ee7471e9332d"><td class="memItemLeft" align="right" valign="top"><a id="ga8065c61da2295bf203e4ee7471e9332d" name="ga8065c61da2295bf203e4ee7471e9332d"></a>
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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>
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<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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<tr class="separator:ga8065c61da2295bf203e4ee7471e9332d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga5d5cafb95fb856438e55a0de06378ef7" id="r_ga5d5cafb95fb856438e55a0de06378ef7"><td class="memItemLeft" align="right" valign="top"><a id="ga5d5cafb95fb856438e55a0de06378ef7" name="ga5d5cafb95fb856438e55a0de06378ef7"></a>
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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>
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<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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<tr class="separator:ga5d5cafb95fb856438e55a0de06378ef7"><td class="memSeparator" colspan="2"> </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>
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<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>
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<tr class="separator:ga32e6cd849848faaccc6b46ba02f98f6b"><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 a point cloud using a 3D crop box. </p>
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<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>
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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 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>
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<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>
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<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>
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<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>
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<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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</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 corresponding to the points that passed the filter, 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 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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</table>
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</dd>
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</dl>
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