pcl::PointCloud<pcl::PointXYZ>::Ptr
zFilter (pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud, float min_ratio, float max_ratio)
{
std::vector<float> z_range = findZRange(input_cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(input_cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(min_ratio * z_range[0], max_ratio * z_range[1]);
pass.filter(*filtered_cloud);
return filtered_cloud;
}
double WScatterData::maximum(Axis axis) const
{
if (axis == XAxis_3D) {
if (!xRangeCached_) {
findXRange();
}
return xMax_;
} else if (axis == YAxis_3D) {
if (!yRangeCached_) {
findYRange();
}
return yMax_;
} else if (axis == ZAxis_3D) {
if (!rangeCached_) {
findZRange();
}
return zMax_;
} else {
throw WException("WScatterData: unknown Axis-type");
}
}
