pcl::PCDReader Class Reference

Point Cloud Data (PCD) file format reader. More...

#include <pcd_io.h>

List of all members.

Public Types
enum	{ PCD_V6 = 0, PCD_V7 = 1 }
	Various PCD file versions. More...
Public Member Functions
template<typename PointT >
int	read (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Read a point cloud data from any PCD file, and convert it to the given template format.
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
	Read a point cloud data from a PCD file (PCD_V6 only!) and store it into a sensor_msgs/PointCloud2.
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version)
	Read a point cloud data from a PCD file and store it into a sensor_msgs/PointCloud2.
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version)
	Read a point cloud data header from a PCD file.

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Detailed Description

Point Cloud Data (PCD) file format reader.

Author:

Radu Bogdan Rusu

Definition at line 51 of file pcd_io.h.

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Member Enumeration Documentation

anonymous enum

Various PCD file versions.

PCD_V6 is the entry point for PCL in ROS. It represents PCD files with version .6, which contain the following fields:

• lines beginning with # are treated as comments
• FIELDS ...
• SIZE ...
• TYPE ...
• COUNT ...
• WIDTH ...
• HEIGHT ...
• POINTS ...
• DATA ascii/binary

Everything that follows DATA is intepreted as data points and will be read accordingly.

PCD_V7 represents PCD files with version .7 and has an important addon: it adds sensor origin/orientation (aka viewpoint) information to a dataset through the use of a new header field:

• VIEWPOINT tx ty tz qw qx qy qz

Enumerator:

PCD_V6
PCD_V7

Definition at line 77 of file pcd_io.h.

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Member Function Documentation

template<typename PointT >

int pcl::PCDReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)			[inline]

Read a point cloud data from any PCD file, and convert it to the given template format.

Parameters:

	file_name	the name of the file containing the actual PointCloud data
	cloud	the resultant PointCloud message read from disk

Definition at line 126 of file pcd_io.h.

int pcl::PCDReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud
	)

Read a point cloud data from a PCD file (PCD_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note:

This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > PCD_V6 will generate a warning.

Parameters:

	file_name	the name of the file containing the actual PointCloud data
	cloud	the resultant PointCloud message read from disk

Definition at line 529 of file pcd_io.cpp.

int pcl::PCDReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version
	)

Read a point cloud data from a PCD file and store it into a sensor_msgs/PointCloud2.

Parameters:

	file_name	the name of the file containing the actual PointCloud data
	cloud	the resultant PointCloud message read from disk
	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)

---[ Binary mode only We must re-open the file and read with mmap () for binary

Definition at line 318 of file pcd_io.cpp.

int pcl::PCDReader::readHeader	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version
	)

Read a point cloud data header from a PCD file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PCD file. Useful for fast evaluation of the underlying data structure.

Returns: * < 0 (-1) on error * > 0 on success

Parameters:

	file_name	the name of the file to load
	cloud	the resultant point cloud dataset (only the header will be filled)
	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)

Definition at line 65 of file pcd_io.cpp.

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The documentation for this class was generated from the following files:

• pcd_io.h
• pcd_io.cpp