example_extract_indices.cpp
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00001 /*
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00036  * $Id: example_ExtractIndices.cpp 4117 2012-01-31 17:56:02Z aichim $
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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 Mon Oct 6 2014 03:14:52