ViewExtract::Ptr ViewSampleExtractor::extract( cv::Rect& rct) const
{
const PointCloud::Ptr vpc = view_->points;
// Ensure rectangle falls within organised point cloud dimensions
const cv::Rect pcRect(0,0, vpc->cols(), vpc->rows());
rct &= pcRect; // Set intersection
ViewExtract::Ptr ve( new ViewExtract( vpc, rct));
ve->setModelName( modelName_);
ve->setPartName( partName_);
ve->setAspectInfo( aspectInfo_);
ve->setPosVec( view_->posVec);
ve->setDirVec( view_->focalVec);
ve->setUpVec( view_->upVec);
return ve;
} // end extract
