pcd_io.h

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 * $Id: pcd_io.h 35988 2011-02-13 08:01:05Z rusu $
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#ifndef PCL_IO_PCD_IO_H_
#define PCL_IO_PCD_IO_H_

#include "pcl/io/io.h"

namespace pcl
{

  class PCDReader
  {
    public:
      enum
      {
        PCD_V6 = 0,
        PCD_V7 = 1
      };

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

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

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

      template<typename PointT> inline int
        read (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
      {
        sensor_msgs::PointCloud2 blob;
        int pcd_version;
        int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_, pcd_version);

        // Exit in case of error
        if (res < 0)
          return res;
        pcl::fromROSMsg (blob, cloud);
        return 0;
      }
  };


  class PCDWriter
  {
    public:
      std::string
      generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, 
                            const Eigen::Quaternionf &orientation);
      std::string
      generateHeaderASCII (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, 
                           const Eigen::Quaternionf &orientation);

      int writeASCII (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
                      const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                      const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                      int precision = 7);

      int writeBinary (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud,
                       const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                       const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());

      inline int
      write (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
             bool binary = false)
      {
        if (binary)
          return (writeBinary (file_name, cloud, origin, orientation));
        else
          return (writeASCII (file_name, cloud, origin, orientation, 7));
      }

      inline int
      write (const std::string &file_name, const sensor_msgs::PointCloud2::ConstPtr &cloud, 
             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
             bool binary = false)
      {
        return (write (file_name, *cloud, origin, orientation, binary));
      }

      template<typename PointT> inline int
      write (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary = false)
      {
        Eigen::Vector4f origin = cloud.sensor_origin_;
        Eigen::Quaternionf orientation = cloud.sensor_orientation_;

        sensor_msgs::PointCloud2 blob;
        pcl::toROSMsg (cloud, blob);

        // Save the data
        return (write (file_name, blob, origin, orientation, binary));
      }
  };

  namespace io
  {

    inline int 
    loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
    {
      pcl::PCDReader p;
      return (p.read (file_name, cloud));
    }


    inline int 
    loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
                 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
    {
      pcl::PCDReader p;
      int pcd_version;
      return (p.read (file_name, cloud, origin, orientation, pcd_version));
    }


    template<typename PointT> inline int
    loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
    {
      pcl::PCDReader p;
      return (p.read (file_name, cloud));
    }


    inline int 
    savePCDFile (std::string file_name, const sensor_msgs::PointCloud2 &cloud, 
                 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                 bool binary_mode = false)
    {
      PCDWriter w;
      return (w.write (file_name, cloud, origin, orientation, binary_mode));
    }


    template<typename PointT> inline int
    savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, binary_mode));
    }



    template<typename PointT> inline int
    savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, false));
    }



    template<typename PointT> inline int
    savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud, true));
    }



    template<typename PointT> int
    savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud,
                 const std::vector<int> &indices, bool binary_mode = false)
    {
      // Copy indices to a new point cloud
      pcl::PointCloud<PointT> cloud_out;
      copyPointCloud (cloud, indices, cloud_out);
      // Save the data
      PCDWriter w;
      return (w.write<PointT> (file_name, cloud_out, binary_mode));
    }
  };
}

#endif  //#ifndef PCL_IO_PCD_IO_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013