Public Member Functions | Private Member Functions
pcl::PLYWriter Class Reference

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

#include <ply_io.h>

Inheritance diagram for pcl::PLYWriter:
Inheritance graph
[legend]

List of all members.

Public Member Functions

std::string generateHeaderASCII (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
 Generate the header of a PLY v.7 file format.
std::string generateHeaderBinary (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
 Generate the header of a PLY v.7 file format.
 PLYWriter ()
 Constructor.
int write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false)
 Save point cloud data to a PLY file containing n-D points.
int write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), bool binary=false, bool use_camera=true)
 Save point cloud data to a PLY file containing n-D points.
int write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), bool binary=false, bool use_camera=true)
 Save point cloud data to a PLY file containing n-D points.
template<typename PointT >
int write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary=false, bool use_camera=true)
 Save point cloud data to a PLY file containing n-D points.
int writeASCII (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), int precision=8, bool use_camera=true)
 Save point cloud data to a PLY file containing n-D points, in ASCII format.
int writeBinary (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), bool use_camera=true)
 Save point cloud data to a PLY file containing n-D points, in BINARY format.
 ~PLYWriter ()
 Destructor.

Private Member Functions

std::string generateHeader (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, bool binary, bool use_camera, int valid_points)
 Generate a PLY header.
void writeContentWithCameraASCII (int nr_points, int point_size, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, std::ofstream &fs)
void writeContentWithRangeGridASCII (int nr_points, int point_size, const pcl::PCLPointCloud2 &cloud, std::ostringstream &fs, int &nb_valid_points)

Detailed Description

Point Cloud Data (PLY) file format writer.

Author:
Nizar Sallem

Definition at line 595 of file ply_io.h.

Constructor & Destructor Documentation

pcl::PLYWriter::PLYWriter ( ) [inline]

Constructor.

Definition at line 599 of file ply_io.h.

pcl::PLYWriter::~PLYWriter ( ) [inline]

Destructor.

Definition at line 602 of file ply_io.h.

Member Function Documentation

std::string pcl::PLYWriter::generateHeader ( const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin,
const Eigen::Quaternionf &  orientation,
bool  binary,
bool  use_camera,
int  valid_points 
) [private]

Generate a PLY header.

Parameters:
[in]cloudthe input point cloud
[in]binarywhether the PLY file should be saved as binary data (true) or ascii (false)

Definition at line 803 of file ply_io.cpp.

std::string pcl::PLYWriter::generateHeaderASCII ( const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin,
const Eigen::Quaternionf &  orientation,
int  valid_points,
bool  use_camera = true 
) [inline]

Generate the header of a PLY v.7 file format.

Parameters:
[in]cloudthe point cloud data message
[in]originthe sensor data acquisition origin (translation)
[in]orientationthe sensor data acquisition origin (rotation)
[in]valid_pointsnumber of valid points (finite ones for range_grid and all of them for camer)
[in]use_cameraif set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 633 of file ply_io.h.

std::string pcl::PLYWriter::generateHeaderBinary ( const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin,
const Eigen::Quaternionf &  orientation,
int  valid_points,
bool  use_camera = true 
) [inline]

Generate the header of a PLY v.7 file format.

Parameters:
[in]cloudthe point cloud data message
[in]originthe sensor data acquisition origin (translation)
[in]orientationthe sensor data acquisition origin (rotation)
[in]valid_pointsnumber of valid points (finite ones for range_grid and all of them for camer)
[in]use_cameraif set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 614 of file ply_io.h.

int pcl::PLYWriter::write ( const std::string &  file_name,
const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &  orientation = Eigen::Quaternionf::Identity (),
const bool  binary = false 
) [inline, virtual]

Save point cloud data to a PLY file containing n-D points.

Parameters:
[in]file_namethe output file name
[in]cloudthe point cloud data message
[in]originthe sensor acquisition origin
[in]orientationthe sensor acquisition orientation
[in]binaryset to true if the file is to be written in a binary PLY format, false (default) for ASCII

Implements pcl::FileWriter.

Definition at line 681 of file ply_io.h.

int pcl::PLYWriter::write ( const std::string &  file_name,
const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &  orientation = Eigen::Quaternionf::Identity (),
bool  binary = false,
bool  use_camera = true 
) [inline]

Save point cloud data to a PLY file containing n-D points.

Parameters:
[in]file_namethe output file name
[in]cloudthe point cloud data message
[in]originthe sensor acquisition origin
[in]orientationthe sensor acquisition orientation
[in]binaryset to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]use_cameraset to true to use camera element and false to use range_grid element

Definition at line 703 of file ply_io.h.

int pcl::PLYWriter::write ( const std::string &  file_name,
const pcl::PCLPointCloud2::ConstPtr &  cloud,
const Eigen::Vector4f &  origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &  orientation = Eigen::Quaternionf::Identity (),
bool  binary = false,
bool  use_camera = true 
) [inline]

Save point cloud data to a PLY file containing n-D points.

Parameters:
[in]file_namethe output file name
[in]cloudthe point cloud data message (boost shared pointer)
[in]originthe sensor acquisition origin
[in]orientationthe sensor acquisition orientation
[in]binaryset to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]use_cameraset to true to use camera element and false to use range_grid element

Definition at line 726 of file ply_io.h.

template<typename PointT >
int pcl::PLYWriter::write ( const std::string &  file_name,
const pcl::PointCloud< PointT > &  cloud,
bool  binary = false,
bool  use_camera = true 
) [inline]

Save point cloud data to a PLY file containing n-D points.

Parameters:
[in]file_namethe output file name
[in]cloudthe pcl::PointCloud data
[in]binaryset to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]use_cameraset to true to use camera element and false to use range_grid element

Definition at line 744 of file ply_io.h.

int pcl::PLYWriter::writeASCII ( const std::string &  file_name,
const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &  orientation = Eigen::Quaternionf::Identity (),
int  precision = 8,
bool  use_camera = true 
)

Save point cloud data to a PLY file containing n-D points, in ASCII format.

Parameters:
[in]file_namethe output file name
[in]cloudthe point cloud data message
[in]originthe sensor data acquisition origin (translation)
[in]orientationthe sensor data acquisition origin (rotation)
[in]precisionthe specified output numeric stream precision (default: 8)
[in]use_cameraif set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 936 of file ply_io.cpp.

int pcl::PLYWriter::writeBinary ( const std::string &  file_name,
const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &  orientation = Eigen::Quaternionf::Identity (),
bool  use_camera = true 
)

Save point cloud data to a PLY file containing n-D points, in BINARY format.

Parameters:
[in]file_namethe output file name
[in]cloudthe point cloud data message
[in]originthe sensor data acquisition origin (translation)
[in]orientationthe sensor data acquisition origin (rotation)
[in]use_cameraif set to true then PLY file will use element camera else element range_grid will be used

Definition at line 1270 of file ply_io.cpp.

void pcl::PLYWriter::writeContentWithCameraASCII ( int  nr_points,
int  point_size,
const pcl::PCLPointCloud2 &  cloud,
const Eigen::Vector4f &  origin,
const Eigen::Quaternionf &  orientation,
std::ofstream &  fs 
) [private]

Definition at line 983 of file ply_io.cpp.

void pcl::PLYWriter::writeContentWithRangeGridASCII ( int  nr_points,
int  point_size,
const pcl::PCLPointCloud2 &  cloud,
std::ostringstream &  fs,
int &  nb_valid_points 
) [private]

Definition at line 1122 of file ply_io.cpp.

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

pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:01