example_extract_indices.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Point Cloud Library (PCL) - www.pointclouds.org
00005  * Copyright (c) 2009-2011, Willow Garage, Inc.
00006  *
00007  * All rights reserved.
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions
00011  * are met:
00012  *
00013  * * Redistributions of source code must retain the above copyright
00014  *   notice, this list of conditions and the following disclaimer.
00015  * * Redistributions in binary form must reproduce the above
00016  *   copyright notice, this list of conditions and the following
00017  *   disclaimer in the documentation and/or other materials provided
00018  *   with the distribution.
00019  * * Neither the name of Willow Garage, Inc. nor the names of its
00020  *   contributors may be used to endorse or promote products derived
00021  *   from this software without specific prior written permission.
00022  *
00023  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  * POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  * $Id: example_ExtractIndices.cpp 4117 2012-01-31 17:56:02Z aichim $
00037  *
00038  */
00039 
00040 // STL
00041 #include <iostream>
00042 
00043 // PCL
00044 #include <pcl/point_types.h>
00045 #include <pcl/filters/extract_indices.h>
00046 
00047 int
00048 main (int, char**)
00049 {
00050   typedef pcl::PointXYZ PointType;
00051   typedef pcl::PointCloud<PointType> CloudType;
00052   CloudType::Ptr cloud (new CloudType);
00053   cloud->is_dense = false;
00054   PointType p;
00055   for (unsigned int i = 0; i < 5; ++i)
00056   {
00057     p.x = p.y = p.z = static_cast<float> (i);
00058     cloud->push_back (p);
00059   }
00060 
00061   std::cout << "Cloud has " << cloud->points.size () << " points." << std::endl;
00062 
00063   pcl::PointIndices indices;
00064   indices.indices.push_back (0);
00065   indices.indices.push_back (2);
00066 
00067   pcl::ExtractIndices<PointType> extract_indices;
00068   extract_indices.setIndices (boost::make_shared<const pcl::PointIndices> (indices));
00069   extract_indices.setInputCloud (cloud);
00070   pcl::PointCloud<pcl::PointXYZ>::Ptr output (new pcl::PointCloud<pcl::PointXYZ>);
00071   extract_indices.filter (*output);
00072 
00073   std::cout << "Output has " << output->points.size () << " points." << std::endl;
00074   return (0);
00075 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:35