pcl::io::PointCloudImageExtractorFromLabelField< PointT > Class Template Reference
[Module io]

Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB image where different labels correspond to different colors. More...

#include <pcl/io/point_cloud_image_extractors.h>

Inheritance diagram for pcl::io::PointCloudImageExtractorFromLabelField< PointT >:

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Collaboration diagram for pcl::io::PointCloudImageExtractorFromLabelField< PointT >:

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List of all members.

Public Types
enum	ColorMode { COLORS_MONO, COLORS_RGB_RANDOM }
	Different modes for color mapping. More...
typedef boost::shared_ptr < PointCloudImageExtractorFromLabelField < PointT > >	Ptr
typedef boost::shared_ptr < const PointCloudImageExtractorFromLabelField < PointT > >	ConstPtr
Public Member Functions
	PointCloudImageExtractorFromLabelField (const ColorMode color_mode=COLORS_MONO)
	Constructor.
virtual	~PointCloudImageExtractorFromLabelField ()
	Destructor.
virtual bool	extract (const PointCloud &cloud, pcl::PCLImage &img) const
	Obtain the label image from the given cloud.
void	setColorMode (const ColorMode color_mode)
	Set color mapping mode.

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Detailed Description

template<typename PointT>
class pcl::io::PointCloudImageExtractorFromLabelField< PointT >

Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB image where different labels correspond to different colors.

In the monochrome case colors are shades of gray, in the RGB case the colors are generated randomly.

Author:

Sergey Alexandrov

Definition at line 249 of file point_cloud_image_extractors.h.

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Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const PointCloudImageExtractorFromLabelField<PointT> > pcl::io::PointCloudImageExtractorFromLabelField< PointT >::ConstPtr

Reimplemented from pcl::io::PointCloudImageExtractor< PointT >.

Definition at line 255 of file point_cloud_image_extractors.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloudImageExtractorFromLabelField<PointT> > pcl::io::PointCloudImageExtractorFromLabelField< PointT >::Ptr

Reimplemented from pcl::io::PointCloudImageExtractor< PointT >.

Definition at line 254 of file point_cloud_image_extractors.h.

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Member Enumeration Documentation

template<typename PointT>

enum pcl::io::PointCloudImageExtractorFromLabelField::ColorMode

Different modes for color mapping.

• COLORS_MONO - shades of gray (according to label id).
• COLORS_RGB_RANDOM - randomly generated RGB colors.

Enumerator:

COLORS_MONO
COLORS_RGB_RANDOM

Definition at line 263 of file point_cloud_image_extractors.h.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::io::PointCloudImageExtractorFromLabelField< PointT >::PointCloudImageExtractorFromLabelField

(

const ColorMode

color_mode = COLORS_MONO

)

[inline]

Constructor.

Definition at line 270 of file point_cloud_image_extractors.h.

template<typename PointT>

virtual pcl::io::PointCloudImageExtractorFromLabelField< PointT >::~PointCloudImageExtractorFromLabelField

(

)

[inline, virtual]

Destructor.

Definition at line 276 of file point_cloud_image_extractors.h.

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Member Function Documentation

template<typename PointT >

bool pcl::io::PointCloudImageExtractorFromLabelField< PointT >::extract	(	const PointCloud &	cloud,
		pcl::PCLImage &	img
	)			const [inline, virtual]

Obtain the label image from the given cloud.

The cloud should contain "label" field.

Note:

Labels using more than 16 bits will cause problems in COLORS_MONO mode.

Parameters:

[in]	cloud	organized point cloud to extract image from
[out]	image	the output image

Returns:

true if the operation was successful, false otherwise

Implements pcl::io::PointCloudImageExtractor< PointT >.

Definition at line 123 of file point_cloud_image_extractors.hpp.

References pcl::io::PointCloudImageExtractorFromLabelField< PointT >::COLORS_MONO, pcl::io::PointCloudImageExtractorFromLabelField< PointT >::COLORS_RGB_RANDOM, pcl::PCLImage::data, pcl::PCLImage::encoding, pcl::getFieldIndex(), pcl::PCLImage::height, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::points, pcl::PCLImage::step, pcl::PCLImage::width, and pcl::PointCloud< PointT >::width.

template<typename PointT>

void pcl::io::PointCloudImageExtractorFromLabelField< PointT >::setColorMode

(

const ColorMode

color_mode

)

[inline]

Set color mapping mode.

Definition at line 290 of file point_cloud_image_extractors.h.

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The documentation for this class was generated from the following files:

• /builddir/build/BUILD/pcl-pcl-1.7.1/io/include/pcl/io/point_cloud_image_extractors.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/io/include/pcl/io/impl/point_cloud_image_extractors.hpp