pcl::PLYReader Class Reference

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

#include <ply_io.h>

Inheritance diagram for pcl::PLYReader:

List of all members.

Public Types
enum	{ PLY_V0 = 0, PLY_V1 = 1 }
Public Member Functions
PLYReader &	operator= (const PLYReader &p)
	PLYReader ()
	PLYReader (const PLYReader &p)
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, const int offset=0)
	Read a point cloud data from a PLY file and store it into a sensor_msgs/PointCloud2.
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset=0)
	Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a sensor_msgs/PointCloud2.
template<typename PointT >
int	read (const std::string &file_name, pcl::PointCloud< PointT > &cloud, const int offset=0)
	Read a point cloud data from any PLY file, and convert it to the given template format.
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, int &data_type, unsigned int &data_idx, const int offset=0)
	Read a point cloud data header from a PLY file.
	~PLYReader ()
Private Member Functions
void	appendFloatProperty (const std::string &name, const size_t &count=1)
void	cloudHeightCallback (const int &height)
void	cloudWidthCallback (const int &width)
boost::tuple< boost::function < void()>, boost::function < void()> >	elementDefinitionCallback (const std::string &element_name, std::size_t count)
	function called when the keyword element is parsed
bool	endHeaderCallback ()
void	errorCallback (const std::string &filename, std::size_t line_number, const std::string &message)
	Error callback function.
void	infoCallback (const std::string &filename, std::size_t line_number, const std::string &message)
	Info callback function.
template<typename SizeType , typename ScalarType >
boost::tuple< boost::function < void(SizeType)> , boost::function< void(ScalarType)> , boost::function< void()> >	listPropertyDefinitionCallback (const std::string &element_name, const std::string &property_name)
	function called when a list property is parsed
void	objInfoCallback (const std::string &line)
void	orientationXaxisXCallback (const float &value)
void	orientationXaxisYCallback (const float &value)
void	orientationXaxisZCallback (const float &value)
void	orientationYaxisXCallback (const float &value)
void	orientationYaxisYCallback (const float &value)
void	orientationYaxisZCallback (const float &value)
void	orientationZaxisXCallback (const float &value)
void	orientationZaxisYCallback (const float &value)
void	orientationZaxisZCallback (const float &value)
void	originXCallback (const float &value)
void	originYCallback (const float &value)
void	originZCallback (const float &value)
bool	parse (const std::string &istream_filename)
void	rangeGridBeginCallback ()
void	rangeGridEndCallback ()
void	rangeGridVertexIndicesBeginCallback (pcl::io::ply::uint8 size)
void	rangeGridVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index)
void	rangeGridVertexIndicesEndCallback ()
template<typename ScalarType >
boost::function< void(ScalarType)>	scalarPropertyDefinitionCallback (const std::string &element_name, const std::string &property_name)
	function called when a scalar property is parsed
void	vertexBeginCallback ()
void	vertexColorCallback (const std::string &color_name, pcl::io::ply::uint8 color)
void	vertexEndCallback ()
void	vertexFloatPropertyCallback (pcl::io::ply::float32 value)
void	vertexIntensityCallback (pcl::io::ply::uint8 intensity)
void	warningCallback (const std::string &filename, std::size_t line_number, const std::string &message)
	Warning callback function.
Private Attributes
sensor_msgs::PointCloud2 *	cloud_
Eigen::Matrix3f	orientation_
	orientation
Eigen::Vector4f	origin_
	origin
::pcl::io::ply::ply_parser	parser_
size_t	range_count_
std::vector< std::vector< int > > *	range_grid_
size_t	range_grid_vertex_indices_element_index_
size_t	rgb_offset_before_
size_t	vertex_count_
int	vertex_offset_before_
size_t	vertex_properties_counter_

---

Detailed Description

Point Cloud Data (PLY) file format reader.

The PLY data format is organized in the following way: lines beginning with "comment" are treated as comments

• ply
• format [ascii|binary_little_endian|binary_big_endian] 1.0
• element vertex COUNT
• property float x
• property float y
• [property float z]
• [property float normal_x]
• [property float normal_y]
• [property float normal_z]
• [property uchar red]
• [property uchar green]
• [property uchar blue] ...
• ascii/binary point coordinates
• [element camera 1]
• [property float view_px] ...
• [element range_grid COUNT]
• [property list uchar int vertex_indices]
• end header

Author:

Nizar Sallem

Definition at line 77 of file ply_io.h.

---

Member Enumeration Documentation

anonymous enum

Enumerator:

PLY_V0
PLY_V1

Definition at line 80 of file ply_io.h.

---

Constructor & Destructor Documentation

pcl::PLYReader::PLYReader

(

)

[inline]

Definition at line 86 of file ply_io.h.

pcl::PLYReader::PLYReader

(

const PLYReader &

p

)

[inline]

Definition at line 101 of file ply_io.h.

pcl::PLYReader::~PLYReader

(

)

[inline]

Definition at line 126 of file ply_io.h.

---

Member Function Documentation

void pcl::PLYReader::appendFloatProperty	(	const std::string &	name,
		const size_t &	count = 1
	)		[private]

Append a float property to the cloud fields. param[in] name property name param[in] count property count: 1 for scalar properties and higher for a list property.

Definition at line 99 of file ply_io.cpp.

void pcl::PLYReader::cloudHeightCallback

(

const int &

height

)

[inline, private]

Callback function to set the cloud height param[in] height cloud height

Definition at line 381 of file ply_io.h.

void pcl::PLYReader::cloudWidthCallback

(

const int &

width

)

[inline, private]

Callback function to set the cloud width param[in] width cloud width

Definition at line 387 of file ply_io.h.

boost::tuple< boost::function< void()>, boost::function< void()> > pcl::PLYReader::elementDefinitionCallback	(	const std::string &	element_name,
		std::size_t	count
	)		[private]

function called when the keyword element is parsed

Parameters:

[in]	element_name	element name
[in]	count	number of instances

Definition at line 50 of file ply_io.cpp.

bool pcl::PLYReader::endHeaderCallback

(

)

[private]

Definition at line 92 of file ply_io.cpp.

void pcl::PLYReader::errorCallback	(	const std::string &	filename,
		std::size_t	line_number,
		const std::string &	message
	)		[inline, private]

Error callback function.

Parameters:

[in]	filename	PLY file read
[in]	line_number	line triggering the callback
[in]	message	error message

Definition at line 252 of file ply_io.h.

void pcl::PLYReader::infoCallback	(	const std::string &	filename,
		std::size_t	line_number,
		const std::string &	message
	)		[inline, private]

Info callback function.

Parameters:

[in]	filename	PLY file read
[in]	line_number	line triggering the callback
[in]	message	information message

Definition at line 230 of file ply_io.h.

boost::tuple< boost::function< void(pcl::io::ply::uint8)>, boost::function< void(pcl::io::ply::int32)>, boost::function< void()> > pcl::PLYReader::listPropertyDefinitionCallback	(	const std::string &	element_name,
		const std::string &	property_name
	)		[private]

function called when a list property is parsed

Parameters:

[in]	element_name	element name to which the property belongs
[in]	property_name	list property name

Definition at line 230 of file ply_io.cpp.

void pcl::PLYReader::objInfoCallback

(

const std::string &

line

)

[private]

Callback function for obj_info

Definition at line 331 of file ply_io.cpp.

PLYReader& pcl::PLYReader::operator=

(

const PLYReader &

p

)

[inline]

Definition at line 118 of file ply_io.h.

void pcl::PLYReader::orientationXaxisXCallback

(

const float &

value

)

[inline, private]

Callback function for orientation x axis x component. param[in] value orientation x axis x value

Definition at line 327 of file ply_io.h.

void pcl::PLYReader::orientationXaxisYCallback

(

const float &

value

)

[inline, private]

Callback function for orientation x axis y component. param[in] value orientation x axis y value

Definition at line 333 of file ply_io.h.

void pcl::PLYReader::orientationXaxisZCallback

(

const float &

value

)

[inline, private]

Callback function for orientation x axis z component. param[in] value orientation x axis z value

Definition at line 339 of file ply_io.h.

void pcl::PLYReader::orientationYaxisXCallback

(

const float &

value

)

[inline, private]

Callback function for orientation y axis x component. param[in] value orientation y axis x value

Definition at line 345 of file ply_io.h.

void pcl::PLYReader::orientationYaxisYCallback

(

const float &

value

)

[inline, private]

Callback function for orientation y axis y component. param[in] value orientation y axis y value

Definition at line 351 of file ply_io.h.

void pcl::PLYReader::orientationYaxisZCallback

(

const float &

value

)

[inline, private]

Callback function for orientation y axis z component. param[in] value orientation y axis z value

Definition at line 357 of file ply_io.h.

void pcl::PLYReader::orientationZaxisXCallback

(

const float &

value

)

[inline, private]

Callback function for orientation z axis x component. param[in] value orientation z axis x value

Definition at line 363 of file ply_io.h.

void pcl::PLYReader::orientationZaxisYCallback

(

const float &

value

)

[inline, private]

Callback function for orientation z axis y component. param[in] value orientation z axis y value

Definition at line 369 of file ply_io.h.

void pcl::PLYReader::orientationZaxisZCallback

(

const float &

value

)

[inline, private]

Callback function for orientation z axis z component. param[in] value orientation z axis z value

Definition at line 375 of file ply_io.h.

void pcl::PLYReader::originXCallback

(

const float &

value

)

[inline, private]

Callback function for origin x component. param[in] value origin x value

Definition at line 309 of file ply_io.h.

void pcl::PLYReader::originYCallback

(

const float &

value

)

[inline, private]

Callback function for origin y component. param[in] value origin y value

Definition at line 315 of file ply_io.h.

void pcl::PLYReader::originZCallback

(

const float &

value

)

[inline, private]

Callback function for origin z component. param[in] value origin z value

Definition at line 321 of file ply_io.h.

bool pcl::PLYReader::parse

(

const std::string &

istream_filename

)

[private]

Definition at line 354 of file ply_io.cpp.

void pcl::PLYReader::rangeGridBeginCallback

(

)

[private]

Callback function for the begin of range_grid line

Definition at line 308 of file ply_io.cpp.

void pcl::PLYReader::rangeGridEndCallback

(

)

[private]

Callback function for the end of a range_grid element end

Definition at line 325 of file ply_io.cpp.

void pcl::PLYReader::rangeGridVertexIndicesBeginCallback

(

pcl::io::ply::uint8

size

)

[private]

Callback function for the begin of range_grid vertex_indices property param[in] size vertex_indices list size

Definition at line 311 of file ply_io.cpp.

void pcl::PLYReader::rangeGridVertexIndicesElementCallback

(

pcl::io::ply::int32

vertex_index

)

[private]

Callback function for each range_grid vertex_indices element param[in] vertex_index index of the vertex in vertex_indices

Definition at line 316 of file ply_io.cpp.

void pcl::PLYReader::rangeGridVertexIndicesEndCallback

(

)

[private]

Callback function for the end of a range_grid vertex_indices property

Definition at line 322 of file ply_io.cpp.

int pcl::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	ply_version,
		const int	offset = 0
	)		[virtual]

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

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[out]	ply_version	the PLY version read from the file
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

Definition at line 399 of file ply_io.cpp.

int pcl::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		const int	offset = 0
	)		[inline]

Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note:

This function is provided for backwards compatibility only and it can only read PLY_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > PLY_V6 will generate a warning.

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Reimplemented from pcl::FileReader.

Definition at line 186 of file ply_io.h.

template<typename PointT >

int pcl::PLYReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud,
		const int	offset = 0
	)		[inline]

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

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Reimplemented from pcl::FileReader.

Definition at line 204 of file ply_io.h.

int pcl::PLYReader::readHeader	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	ply_version,
		int &	data_type,
		unsigned int &	data_idx,
		const int	offset = 0
	)		[virtual]

Read a point cloud data header from a PLY file.

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

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

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only the header will be filled)
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[out]	ply_version	the PLY version read from the file
[out]	data_type	the type of PLY data stored in the file
[out]	data_idx	the data index
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

Definition at line 381 of file ply_io.cpp.

boost::function< void(pcl::io::ply::int32)> pcl::PLYReader::scalarPropertyDefinitionCallback	(	const std::string &	element_name,
		const std::string &	property_name
	)		[private]

function called when a scalar property is parsed

Parameters:

[in]	element_name	element name to which the property belongs
[in]	property_name	property name

Definition at line 114 of file ply_io.cpp.

void pcl::PLYReader::vertexBeginCallback

(

)

[private]

Callback function for the begin of vertex line

Definition at line 296 of file ply_io.cpp.

void pcl::PLYReader::vertexColorCallback	(	const std::string &	color_name,
		pcl::io::ply::uint8	color
	)		[inline, private]

Callback function for vertex RGB color. This callback is in charge of packing red green and blue in a single int before writing it down in cloud data. param[in] color_name color name in {red, green, blue} param[in] color value of {red, green, blue} property

Definition at line 262 of file ply_io.cpp.

void pcl::PLYReader::vertexEndCallback

(

)

[private]

Callback function for the end of vertex line

Definition at line 302 of file ply_io.cpp.

void pcl::PLYReader::vertexFloatPropertyCallback

(

pcl::io::ply::float32

value

)

[inline, private]

Callback function for an anonymous vertex float property. Writes down a float value in cloud data. param[in] value float value parsed

Definition at line 253 of file ply_io.cpp.

void pcl::PLYReader::vertexIntensityCallback

(

pcl::io::ply::uint8

intensity

)

[inline, private]

Callback function for vertex intensity. converts intensity from int to float before writing it down in cloud data. param[in] intensity

Definition at line 286 of file ply_io.cpp.

void pcl::PLYReader::warningCallback	(	const std::string &	filename,
		std::size_t	line_number,
		const std::string &	message
	)		[inline, private]

Warning callback function.

Parameters:

[in]	filename	PLY file read
[in]	line_number	line triggering the callback
[in]	message	warning message

Definition at line 241 of file ply_io.h.

---

Member Data Documentation

sensor_msgs::PointCloud2* pcl::PLYReader::cloud_ [private]

Definition at line 440 of file ply_io.h.

Eigen::Matrix3f pcl::PLYReader::orientation_ [private]

orientation

Definition at line 437 of file ply_io.h.

Eigen::Vector4f pcl::PLYReader::origin_ [private]

origin

Definition at line 434 of file ply_io.h.

::pcl::io::ply::ply_parser pcl::PLYReader::parser_ [private]

Definition at line 219 of file ply_io.h.

size_t pcl::PLYReader::range_count_ [private]

Definition at line 445 of file ply_io.h.

std::vector<std::vector <int> >* pcl::PLYReader::range_grid_ [private]

Definition at line 444 of file ply_io.h.

size_t pcl::PLYReader::range_grid_vertex_indices_element_index_ [private]

Definition at line 445 of file ply_io.h.

size_t pcl::PLYReader::rgb_offset_before_ [private]

Definition at line 446 of file ply_io.h.

size_t pcl::PLYReader::vertex_count_ [private]

Definition at line 441 of file ply_io.h.

int pcl::PLYReader::vertex_offset_before_ [private]

Definition at line 442 of file ply_io.h.

size_t pcl::PLYReader::vertex_properties_counter_ [private]

Definition at line 441 of file ply_io.h.

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

• ply_io.h
• ply_io.cpp