37 #ifndef PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
38 #define PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
40 #include <pcl/point_cloud.h>
41 #include <pcl/PCLImage.h>
77 template <
typename Po
intT>
83 typedef boost::shared_ptr<PointCloudImageExtractor<PointT> >
Ptr;
84 typedef boost::shared_ptr<const PointCloudImageExtractor<PointT> >
ConstPtr;
107 template <
typename Po
intT>
113 typedef boost::shared_ptr<PointCloudImageExtractorWithScaling<PointT> >
Ptr;
114 typedef boost::shared_ptr<const PointCloudImageExtractorWithScaling<PointT> >
ConstPtr;
184 template <
typename Po
intT>
190 typedef boost::shared_ptr<PointCloudImageExtractorFromNormalField<PointT> >
Ptr;
191 typedef boost::shared_ptr<const PointCloudImageExtractorFromNormalField<PointT> >
ConstPtr;
215 template <
typename Po
intT>
221 typedef boost::shared_ptr<PointCloudImageExtractorFromRGBField<PointT> >
Ptr;
222 typedef boost::shared_ptr<const PointCloudImageExtractorFromRGBField<PointT> >
ConstPtr;
248 template <
typename Po
intT>
254 typedef boost::shared_ptr<PointCloudImageExtractorFromLabelField<PointT> >
Ptr;
255 typedef boost::shared_ptr<const PointCloudImageExtractorFromLabelField<PointT> >
ConstPtr;
271 : color_mode_ (color_mode)
292 color_mode_ = color_mode;
306 template <
typename Po
intT>
313 typedef boost::shared_ptr<PointCloudImageExtractorFromZField<PointT> >
Ptr;
314 typedef boost::shared_ptr<const PointCloudImageExtractorFromZField<PointT> >
ConstPtr;
348 template <
typename Po
intT>
355 typedef boost::shared_ptr<PointCloudImageExtractorFromCurvatureField<PointT> >
Ptr;
356 typedef boost::shared_ptr<const PointCloudImageExtractorFromCurvatureField<PointT> >
ConstPtr;
390 template <
typename Po
intT>
397 typedef boost::shared_ptr<PointCloudImageExtractorFromIntensityField<PointT> >
Ptr;
398 typedef boost::shared_ptr<const PointCloudImageExtractorFromIntensityField<PointT> >
ConstPtr;
429 #include <pcl/io/impl/point_cloud_image_extractors.hpp>
431 #endif //#ifndef PCL_POINT_CLOUD_IMAGE_EXTRACTORS_H_
Image Extractor which uses the data present in the "rgb" or "rgba" fields to produce a color image wi...
PointCloudImageExtractorFromCurvatureField(const float scaling_factor)
Constructor.
PointCloudImageExtractorFromIntensityField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_NO)
Constructor.
boost::shared_ptr< const PointCloudImageExtractorFromZField< PointT > > ConstPtr
PointCloudImageExtractorFromLabelField(const ColorMode color_mode=COLORS_MONO)
Constructor.
ColorMode
Different modes for color mapping.
Image Extractor which uses the data present in the "intensity" field to produce a monochrome intensit...
virtual bool extract(const PointCloud &cloud, pcl::PCLImage &img) const
Obtain the label image from the given cloud.
virtual ~PointCloudImageExtractorFromIntensityField()
Destructor.
PointCloudImageExtractor()
Constructor.
boost::shared_ptr< const PointCloudImageExtractorFromRGBField< PointT > > ConstPtr
boost::shared_ptr< PointCloudImageExtractorFromNormalField< PointT > > Ptr
virtual bool extract(const PointCloud &cloud, pcl::PCLImage &image) const =0
Obtain the image from the given cloud.
PointCloudImageExtractorFromRGBField()
Constructor.
virtual ~PointCloudImageExtractorFromNormalField()
Destructor.
virtual bool extract(const PointCloud &cloud, pcl::PCLImage &img) const
Obtain the color image from the given cloud.
Image Extractor which uses the data present in the "curvature" field to produce a curvature map (as a...
virtual ~PointCloudImageExtractorFromLabelField()
Destructor.
boost::shared_ptr< const PointCloudImageExtractorWithScaling< PointT > > ConstPtr
Image Extractor which uses the data present in the "normal" field.
void setScalingFactor(const float scaling_factor)
Set fixed scaling factor.
boost::shared_ptr< PointCloudImageExtractorFromIntensityField< PointT > > Ptr
boost::shared_ptr< PointCloudImageExtractor< PointT > > Ptr
boost::shared_ptr< const PointCloudImageExtractorFromNormalField< PointT > > ConstPtr
boost::shared_ptr< const PointCloudImageExtractorFromIntensityField< PointT > > ConstPtr
ScalingMethod scaling_method_
PointCloudImageExtractorFromZField(const ScalingMethod scaling_method)
Constructor.
boost::shared_ptr< PointCloudImageExtractorFromRGBField< PointT > > Ptr
PointCloudImageExtractorFromZField(const float scaling_factor=10000)
Constructor.
ScalingMethod
Different scaling methods.
virtual ~PointCloudImageExtractorFromZField()
Destructor.
PointCloudImageExtractorWithScaling(const std::string &field_name, const ScalingMethod scaling_method)
Constructor.
virtual ~PointCloudImageExtractorWithScaling()
Destructor.
Base Image Extractor class for organized point clouds.
void setColorMode(const ColorMode color_mode)
Set color mapping mode.
virtual ~PointCloudImageExtractorFromCurvatureField()
Destructor.
PointCloudImageExtractorFromCurvatureField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_FULL_RANGE)
Constructor.
boost::shared_ptr< const PointCloudImageExtractorFromLabelField< PointT > > ConstPtr
pcl::PointCloud< PointT > PointCloud
boost::shared_ptr< const PointCloudImageExtractor< PointT > > ConstPtr
Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB ...
void setScalingMethod(const ScalingMethod scaling_method)
Set scaling method.
boost::shared_ptr< PointCloudImageExtractorFromCurvatureField< PointT > > Ptr
PointCloudImageExtractorFromIntensityField(const float scaling_factor)
Constructor.
boost::shared_ptr< PointCloudImageExtractorFromZField< PointT > > Ptr
Image Extractor which uses the data present in the "z" field to produce a depth map (as a monochrome ...
virtual ~PointCloudImageExtractorFromRGBField()
Destructor.
virtual ~PointCloudImageExtractor()
Destructor.
PointCloudImageExtractorFromNormalField()
Constructor.
boost::shared_ptr< PointCloudImageExtractorFromLabelField< PointT > > Ptr
virtual bool extract(const PointCloud &cloud, pcl::PCLImage &img) const
Obtain the color image from the given cloud.
PointCloudImageExtractorWithScaling(const std::string &field_name, const float scaling_factor)
Constructor.
virtual bool extract(const PointCloud &cloud, pcl::PCLImage &image) const
Obtain the image from the given cloud.
boost::shared_ptr< PointCloudImageExtractorWithScaling< PointT > > Ptr
boost::shared_ptr< const PointCloudImageExtractorFromCurvatureField< PointT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
Image Extractor extension which provides functionality to apply scaling to the values extracted from ...