pointcloudprocessing/docs/usecase7.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page pointcloudprocessing_usecase7 Point Cloud Filter
@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

This tutorial shows how to use point cloud filter.

To initialize the module,
```{.cpp}
dwPointCloudFilterHandle_t filter = DW_NULL_HANDLE;
dwPointCloudFilterParams params{};
dwPointCloudFilter_getDefaultParameters(&params);
dwPointCloudFilter_initialize(&filter, &params, context);
```

By default the module only filters out invalid points. A point is considered to be invalid when all coordinates are zeros. In addition it is possible to specify an oriented bounding box and cull points inside or outside the box.

```{.cpp}
params.box = &orientedBoundingBox;
params.type = DW_POINT_CLOUD_FILTER_TYPE_INNER; // select points inside the box
```

Note these parameters may be specified in run time with calling:

```{.cpp}
dwPointCloudFilter_setBoundingBox(&orientedBoundingBox, filter);
dwPointCloudFilter_setType(type, filter);
```

All operations may be performed either on CPU or on GPU. To enable GPU version set `params.enableCuda` flag to `true`.


To apply filter,

```{.cpp}
dwPointCloudFilter_bindInput(inputPointCloud, filter);
dwPointCloudFilter_bindOutput(outputPointCloud, filter);
dwPointCloudFilter_process(filter);
```

To release the module,
```{.cpp}
dwPointCloudFilter_release(filter);
```

For more details see @ref dwx_pointcloudprocessing_sample