DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

Point Cloud Filter
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,

dwPointCloudFilterHandle_t filter = DW_NULL_HANDLE;
dwPointCloudFilterParams 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. = &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:

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,

dwPointCloudFilter_bindInput(inputPointCloud, filter);
dwPointCloudFilter_bindOutput(outputPointCloud, filter);

To release the module,


For more details see Point Cloud Processing Sample