68 const int nbPointsIn = cloud.
features.cols();
69 const int nbRows = cloud.
features.rows();
72 for (
int i = 0; i < nbPointsIn; ++i)
78 const bool x_in = (point(0) >
xMin && point(0) <
xMax);
79 const bool y_in = (point(1) >
yMin && point(1) <
yMax);
80 const bool z_in = (point(2) >
zMin && point(2) <
zMax) || nbRows == 3;
81 const bool in_box = x_in && y_in && z_in;
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any...
BoundingBoxDataPointsFilter(const Parameters ¶ms=Parameters())
Constructor, uses parameter interface.
Functions and classes that are dependant on scalar type are defined in this templatized class...
Parametrizable::Parameters Parameters
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
PointMatcher< T >::Vector Vector
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy...
const M::mapped_type & get(const M &m, const typename M::key_type &k)
The superclass of classes that are constructed using generic parameters. This class provides the para...
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Matrix features
features of points in the cloud
PM::DataPointsFilter DataPointsFilter
Subsampling. Remove point laying in a bounding box.