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

#include <pcl/io/point_cloud_image_extractors.h>

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);
pcl::PointCloudPointCloud represents the base class in PCL for storing collections of 3D points.Definition: point_cloud.h:173
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::io::PointCloudImageExtractorFromLabelFieldImage Extractor which uses the data present in the "label" field to produce either monochrome or RGB ...Definition: point_cloud_image_extractors.h:258
pcl::io::PointCloudImageExtractorFromLabelField
Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB ...
Definition: point_cloud_image_extractors.h:258
pcl::io::PointCloudImageExtractorFromLabelField::COLORS_RGB_RANDOM@ COLORS_RGB_RANDOMRandomly generated RGB colors.Definition: point_cloud_image_extractors.h:272
pcl::io::PointCloudImageExtractorFromLabelField::COLORS_RGB_RANDOM
@ COLORS_RGB_RANDOM
Randomly generated RGB colors.
Definition: point_cloud_image_extractors.h:272
pcl::io::PointCloudImageExtractorFromLabelField::setColorModevoid setColorMode(const ColorMode color_mode)Set color mapping mode.Definition: point_cloud_image_extractors.h:289
pcl::io::PointCloudImageExtractorFromLabelField::setColorMode
void setColorMode(const ColorMode color_mode)
Set color mapping mode.
Definition: point_cloud_image_extractors.h:289
pcl::io::PointCloudImageExtractor::extractbool extract(const PointCloud &cloud, pcl::PCLImage &image) constObtain the image from the given cloud.Definition: point_cloud_image_extractors.hpp:51
pcl::io::PointCloudImageExtractor::extract
bool extract(const PointCloud &cloud, pcl::PCLImage &image) const
Obtain the image from the given cloud.
Definition: point_cloud_image_extractors.hpp:51
pcl::PCLImageDefinition: PCLImage.h:13
pcl::PCLImage
Definition: PCLImage.h:13