Base Image Extractor class for organized point clouds. More...
#include <pcl/io/point_cloud_image_extractors.h>
Public Types | |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef boost::shared_ptr < PointCloudImageExtractor < PointT > > | Ptr |
| typedef boost::shared_ptr < const PointCloudImageExtractor < PointT > > | ConstPtr |
Public Member Functions | |
| PointCloudImageExtractor () | |
| Constructor. | |
| virtual | ~PointCloudImageExtractor () |
| Destructor. | |
| virtual bool | extract (const PointCloud &cloud, pcl::PCLImage &image) const =0 |
| Obtain the image from the given cloud. | |
Base Image Extractor class for organized point clouds.
This is an abstract class that declares an interface for image extraction from organized point clouds. The family of its subclasses provide functionality to extract images from particular fields.
The following piece of code demonstrates typical usage of a PointCloudImageExtractor subclass. Here the data are extracted from the "label" field and are saved as a PNG image file.
// Source point cloud (needs to be filled with data of course) pcl::PointCloud<pcl::PointXYZLabel> cloud; // Target image pcl::PCLImage image; // Create PointCloudImageExtractor subclass that can handle "label" field pcl::io::PointCloudImageExtractorFromLabelField<pcl::XYZLabel> pcie; // Set it up if not happy with the defaults pcie.setColorMode(pcie.COLORS_RGB_RANDOM); // Try to extract an image bool success = pcie.extract(cloud, image); // Save to file if succeeded if (success) pcl::io::saveImage ("filename.png", image);
Definition at line 78 of file point_cloud_image_extractors.h.
| typedef boost::shared_ptr<const PointCloudImageExtractor<PointT> > pcl::io::PointCloudImageExtractor< PointT >::ConstPtr |
Reimplemented in pcl::io::PointCloudImageExtractorWithScaling< PointT >, pcl::io::PointCloudImageExtractorFromNormalField< PointT >, pcl::io::PointCloudImageExtractorFromRGBField< PointT >, pcl::io::PointCloudImageExtractorFromLabelField< PointT >, pcl::io::PointCloudImageExtractorFromZField< PointT >, pcl::io::PointCloudImageExtractorFromCurvatureField< PointT >, and pcl::io::PointCloudImageExtractorFromIntensityField< PointT >.
Definition at line 84 of file point_cloud_image_extractors.h.
| typedef pcl::PointCloud<PointT> pcl::io::PointCloudImageExtractor< PointT >::PointCloud |
Definition at line 81 of file point_cloud_image_extractors.h.
| typedef boost::shared_ptr<PointCloudImageExtractor<PointT> > pcl::io::PointCloudImageExtractor< PointT >::Ptr |
Reimplemented in pcl::io::PointCloudImageExtractorWithScaling< PointT >, pcl::io::PointCloudImageExtractorFromNormalField< PointT >, pcl::io::PointCloudImageExtractorFromRGBField< PointT >, pcl::io::PointCloudImageExtractorFromLabelField< PointT >, pcl::io::PointCloudImageExtractorFromZField< PointT >, pcl::io::PointCloudImageExtractorFromCurvatureField< PointT >, and pcl::io::PointCloudImageExtractorFromIntensityField< PointT >.
Definition at line 83 of file point_cloud_image_extractors.h.
| pcl::io::PointCloudImageExtractor< PointT >::PointCloudImageExtractor | ( | ) | [inline] |
Constructor.
Definition at line 87 of file point_cloud_image_extractors.h.
| virtual pcl::io::PointCloudImageExtractor< PointT >::~PointCloudImageExtractor | ( | ) | [inline, virtual] |
Destructor.
Definition at line 90 of file point_cloud_image_extractors.h.
| virtual bool pcl::io::PointCloudImageExtractor< PointT >::extract | ( | const PointCloud & | cloud, | |
| pcl::PCLImage & | image | |||
| ) | const [pure virtual] |
Obtain the image from the given cloud.
| [in] | cloud | organized point cloud to extract image from |
| [out] | image | the output image |
Implemented in pcl::io::PointCloudImageExtractorWithScaling< PointT >, pcl::io::PointCloudImageExtractorFromNormalField< PointT >, pcl::io::PointCloudImageExtractorFromRGBField< PointT >, and pcl::io::PointCloudImageExtractorFromLabelField< PointT >.
