pcl::io::PointCloudImageExtractor< PointT > Class Template Reference

Base Image Extractor class for organized point clouds. More...

#include <pcl/io/point_cloud_image_extractors.h>

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

Public Types
using	PointCloud = pcl::PointCloud< PointT >
using	Ptr = shared_ptr< PointCloudImageExtractor< PointT > >
using	ConstPtr = shared_ptr< const PointCloudImageExtractor< PointT > >

Public Member Functions
	PointCloudImageExtractor ()=default
	Constructor. More...
virtual	~PointCloudImageExtractor ()=default
	Destructor. More...
bool	extract (const PointCloud &cloud, pcl::PCLImage &image) const
	Obtain the image from the given cloud. More...
void	setPaintNaNsWithBlack (bool flag)
	Set a flag that controls if image pixels corresponding to NaN (infinite) points should be painted black. More...

Protected Member Functions
virtual bool	extractImpl (const PointCloud &cloud, pcl::PCLImage &image) const =0
	Implementation of the extract() function, has to be implemented in deriving classes. More...

Protected Attributes
bool	paint_nans_with_black_ {false}
	A flag that controls if image pixels corresponding to NaN (infinite) points should be painted black. More...

Detailed Description

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

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);

Author

Sergey Alexandrov

Definition at line 78 of file point_cloud_image_extractors.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >

using pcl::io::PointCloudImageExtractor< PointT >::ConstPtr = shared_ptr<const PointCloudImageExtractor<PointT> >

Definition at line 84 of file point_cloud_image_extractors.h.

PointCloud

template<typename PointT >

using pcl::io::PointCloudImageExtractor< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 81 of file point_cloud_image_extractors.h.

Ptr

template<typename PointT >

using pcl::io::PointCloudImageExtractor< PointT >::Ptr = shared_ptr<PointCloudImageExtractor<PointT> >

Definition at line 83 of file point_cloud_image_extractors.h.

Constructor & Destructor Documentation

PointCloudImageExtractor()

template<typename PointT >

pcl::io::PointCloudImageExtractor< PointT >::PointCloudImageExtractor ( )

default

Constructor.

~PointCloudImageExtractor()

template<typename PointT >

virtual pcl::io::PointCloudImageExtractor< PointT >::~PointCloudImageExtractor ( )

virtualdefault

Destructor.

Member Function Documentation

extract()

template<typename PointT >

bool pcl::io::PointCloudImageExtractor< PointT >::extract	(	const PointCloud &	cloud,
		pcl::PCLImage &	image
	)		const

Obtain the image from the given cloud.

Parameters

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

Returns

true if the operation was successful, false otherwise

Definition at line 51 of file point_cloud_image_extractors.hpp.

References pcl::PCLImage::data, pcl::PCLImage::encoding, pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

extractImpl()

template<typename PointT >

virtual bool pcl::io::PointCloudImageExtractor< PointT >::extractImpl ( const PointCloud &  cloud, pcl::PCLImage &  image  ) const

protectedpure virtual

Implementation of the extract() function, has to be implemented in deriving classes.

Implemented in pcl::io::PointCloudImageExtractorFromLabelField< PointT >, pcl::io::PointCloudImageExtractorFromRGBField< PointT >, pcl::io::PointCloudImageExtractorFromNormalField< PointT >, and pcl::io::PointCloudImageExtractorWithScaling< PointT >.

setPaintNaNsWithBlack()

template<typename PointT >

void pcl::io::PointCloudImageExtractor< PointT >::setPaintNaNsWithBlack ( bool  flag )

inline

Set a flag that controls if image pixels corresponding to NaN (infinite) points should be painted black.

Definition at line 104 of file point_cloud_image_extractors.h.

References pcl::io::PointCloudImageExtractor< PointT >::paint_nans_with_black_.

Member Data Documentation

paint_nans_with_black_

template<typename PointT >

bool pcl::io::PointCloudImageExtractor< PointT >::paint_nans_with_black_ {false}

protected

A flag that controls if image pixels corresponding to NaN (infinite) points should be painted black.

Definition at line 119 of file point_cloud_image_extractors.h.

Referenced by pcl::io::PointCloudImageExtractor< PointT >::setPaintNaNsWithBlack().

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

• pcl/io/point_cloud_image_extractors.h
• pcl/io/impl/point_cloud_image_extractors.hpp