Namespaces
namespace	ply
Classes
struct	CameraParameters
	Basic camera parameters placeholder. More...
struct	CompressionPointTraits
struct	CompressionPointTraits< PointXYZRGB >
struct	CompressionPointTraits< PointXYZRGBA >
struct	configurationProfile_t
class	DeBayer
	Various debayering methods. More...
class	LZFBayer8ImageReader
	PCL-LZF 8-bit Bayer image format reader. More...
class	LZFBayer8ImageWriter
	PCL-LZF 8-bit Bayer image format writer. More...
class	LZFDepth16ImageReader
	PCL-LZF 16-bit depth image format reader. More...
class	LZFDepth16ImageWriter
	PCL-LZF 16-bit depth image format writer. More...
class	LZFImageReader
	PCL-LZF image format reader. The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression. More...
class	LZFImageWriter
	PCL-LZF image format writer. The PCL-LZF image format is nothing else but a LZF-modified compression over an existing file type (e.g., PNG). However, in certain situations, like RGB data for example, an [RGBRGB...RGB] array will be first reordered into [RR...RGG...GBB...B] in order to ensure better compression. More...
class	LZFRGB24ImageReader
	PCL-LZF 24-bit RGB image format reader. More...
class	LZFRGB24ImageWriter
	PCL-LZF 24-bit RGB image format writer. More...
class	LZFYUV422ImageReader
	PCL-LZF 8-bit Bayer image format reader. More...
class	LZFYUV422ImageWriter
	PCL-LZF 16-bit YUV422 image format writer. More...
class	OctreePointCloudCompression
	Octree pointcloud compression class More...
struct	OrganizedConversion< PointT, false >
struct	OrganizedConversion< PointT, true >
class	OrganizedPointCloudCompression
struct	TARHeader
	A TAR file's header, as described on http://en.wikipedia.org/wiki/Tar_%28file_format%29. More...
Enumerations
enum	compression_Profiles_e { LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, LOW_RES_ONLINE_COMPRESSION_WITH_COLOR, MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_ONLINE_COMPRESSION_WITH_COLOR, HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR, LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR, MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_OFFLINE_COMPRESSION_WITH_COLOR, HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR, COMPRESSION_PROFILE_COUNT, MANUAL_CONFIGURATION }
Functions
template<typename T >
void	decodePNGImage (typename std::vector< uint8_t > &pngData_arg, typename std::vector< T > &imageData_arg, size_t &width_arg, size_t &height_arg, unsigned int &channels_arg)
PCL_EXPORTS void	decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint8_t > &imageData_arg, size_t &width_arg, size_t &heigh_argt, unsigned int &channels_arg)
	Decode compressed PNG to 8-bit image.
PCL_EXPORTS void	decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint16_t > &imageData_arg, size_t &width_arg, size_t &height_arg, unsigned int &channels_arg)
	Decode compressed PNG to 16-bit image.
template<typename T >
void	encodeImageToPNG (typename std::vector< T > &image_arg, size_t width_arg, size_t height_arg, int image_format_arg, typename std::vector< uint8_t > &pngData_arg, int png_level_arg)
PCL_EXPORTS void	encodeMonoImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 8-bit mono image to PNG format.
PCL_EXPORTS void	encodeMonoImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 16-bit mono image to PNG format.
PCL_EXPORTS void	encodeRGBImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 8-bit RGB image to PNG format.
PCL_EXPORTS void	encodeRGBImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 16-bit RGB image to PNG format.
int	loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load a PCD v.6 file into a templated PointCloud type.
int	loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
	Load any PCD file into a templated PointCloud type.
template<typename PointT >
int	loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any PCD file into a templated PointCloud type.
int	loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load a PLY v.6 file into a templated PointCloud type.
int	loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
	Load any PLY file into a templated PointCloud type.
template<typename PointT >
int	loadPLYFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any PLY file into a templated PointCloud type.
PCL_EXPORTS int	loadPolygonFile (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS int	loadPolygonFileOBJ (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an OBJ file into a PolygonMesh object.
PCL_EXPORTS int	loadPolygonFileOBJ (const std::string &file_name, pcl::TextureMesh &mesh)
	Load an OBJ file into a TextureMesh object.
PCL_EXPORTS int	loadPolygonFilePLY (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PLY file into a PolygonMesh object.
PCL_EXPORTS int	loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an STL file into a PolygonMesh object.
PCL_EXPORTS int	loadPolygonFileVTK (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a VTK file into a PolygonMesh object.
PCL_EXPORTS int	mesh2vtk (const pcl::PolygonMesh &mesh, vtkSmartPointer< vtkPolyData > &poly_data)
	Convert a PCL PolygonMesh to a vtkPolyData object.
template<typename PointT >
void	pointCloudTovtkPolyData (const pcl::PointCloud< PointT > &cloud, vtkPolyData *const polydata)
	Convert a pcl::PointCloud object to a VTK PolyData one.
PCL_EXPORTS void	pointCloudTovtkPolyData (const pcl::PCLPointCloud2Ptr &cloud, vtkSmartPointer< vtkPolyData > &poly_data)
	Convert a PCLPointCloud2 object to a VTK PolyData object.
template<typename PointT >
void	pointCloudTovtkStructuredGrid (const pcl::PointCloud< PointT > &cloud, vtkStructuredGrid *const structured_grid)
	Convert a pcl::PointCloud object to a VTK StructuredGrid one.
PCL_EXPORTS void	saveCharPNGFile (const std::string &file_name, const unsigned char *mono_image, int width, int height, int channels)
	Saves 8-bit encoded image to PNG file.
PCL_EXPORTS int	saveOBJFile (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5)
	Saves a TextureMesh in ascii OBJ format.
PCL_EXPORTS int	saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh in ascii PLY format.
int	savePCDFile (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_mode=false)
	Save point cloud data to a PCD file containing n-D points.
template<typename PointT >
int	savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false)
	Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
template<typename PointT >
int	savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const bool binary_mode=false)
	Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
template<typename PointT >
int	savePCDFileASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
template<typename PointT >
int	savePCDFileBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Templated version for saving point cloud data to a PCD file containing a specific given cloud format. The resulting file will be an uncompressed binary.
template<typename PointT >
int	savePCDFileBinaryCompressed (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Templated version for saving point cloud data to a PCD file containing a specific given cloud format. This method will write a compressed binary file.
int	savePLYFile (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_mode=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points.
template<typename PointT >
int	savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false)
	Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
template<typename PointT >
int	savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, bool binary_mode=false)
	Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
PCL_EXPORTS int	savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh in ascii PLY format.
template<typename PointT >
int	savePLYFileASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
template<typename PointT >
int	savePLYFileBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
PCL_EXPORTS int	savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Saves a PolygonMesh in binary PLY format.
void	savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned char > &cloud)
	Saves 8-bit grayscale cloud as image to PNG file.
void	savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned short > &cloud)
	Saves 16-bit grayscale cloud as image to PNG file.
template<typename T >
void	savePNGFile (const std::string &file_name, const pcl::PointCloud< T > &cloud)
	Saves RGB fields of cloud as image to PNG file.
void	savePNGFile (const std::string &file_name, const pcl::PointCloud< pcl::PointXYZL > &cloud)
	Saves Labeled Point cloud as image to PNG file.
PCL_EXPORTS int	savePolygonFile (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS int	savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into a PLY file.
PCL_EXPORTS int	savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into an STL file.
PCL_EXPORTS int	savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into a VTK file.
PCL_EXPORTS void	saveRangeImagePlanarFilePNG (const std::string &file_name, const pcl::RangeImagePlanar &range_image)
	Write a RangeImagePlanar object to a PNG file.
PCL_EXPORTS void	saveRgbPNGFile (const std::string &file_name, const unsigned char *rgb_image, int width, int height)
	Saves 8-bit encoded RGB image to PNG file.
PCL_EXPORTS void	saveShortPNGFile (const std::string &file_name, const unsigned short *short_image, int width, int height, int channels)
	Saves 16-bit encoded image to PNG file.
template<typename PointT >
bool	saveTARPointCloud (const std::string &tar_filename, const PointCloud< PointT > &cloud, const std::string &pcd_filename)
	Save a PointCloud dataset into a TAR file. Append if the file exists, or create a new one if not.
PCL_EXPORTS int	saveVTKFile (const std::string &file_name, const pcl::PolygonMesh &triangles, unsigned precision=5)
	Saves a PolygonMesh in ascii VTK format.
PCL_EXPORTS int	saveVTKFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, unsigned precision=5)
	Saves a PointCloud in ascii VTK format.
template<std::size_t N>
void	swapByte (char *bytes)
	swap bytes order of a char array of length N
template<typename T >
void	swapByte (T &value)
	swaps byte of an arbitrary type T casting it to char*
template<>
void	swapByte< 1 > (char *bytes)
	specialization of swapByte for dimension 1
template<>
void	swapByte< 2 > (char *bytes)
	specialization of swapByte for dimension 2
template<>
void	swapByte< 4 > (char *bytes)
	specialization of swapByte for dimension 4
template<>
void	swapByte< 8 > (char *bytes)
	specialization of swapByte for dimension 8
PCL_EXPORTS int	vtk2mesh (const vtkSmartPointer< vtkPolyData > &poly_data, pcl::PolygonMesh &mesh)
	Convert vtkPolyData object to a PCL PolygonMesh.
PCL_EXPORTS int	vtk2mesh (const vtkSmartPointer< vtkPolyData > &poly_data, pcl::TextureMesh &mesh)
	Convert vtkPolyData object to a PCL TextureMesh.
template<typename PointT >
void	vtkPolyDataToPointCloud (vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
	Convert a VTK PolyData object to a pcl::PointCloud one.
template<typename PointT >
void	vtkStructuredGridToPointCloud (vtkStructuredGrid *const structured_grid, pcl::PointCloud< PointT > &cloud)
	Convert a VTK StructuredGrid object to a pcl::PointCloud one.
Variables
struct configurationProfile_t	compressionProfiles_ [COMPRESSION_PROFILE_COUNT]

Enumeration Type Documentation

enum pcl::io::compression_Profiles_e

Enumerator:

LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
LOW_RES_ONLINE_COMPRESSION_WITH_COLOR
MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
MED_RES_ONLINE_COMPRESSION_WITH_COLOR
HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR
HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR
LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR
MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
MED_RES_OFFLINE_COMPRESSION_WITH_COLOR
HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR
HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR
COMPRESSION_PROFILE_COUNT
MANUAL_CONFIGURATION

Definition at line 45 of file compression_profiles.h.

Function Documentation

template<typename T >

void pcl::io::decodePNGImage	(	typename std::vector< uint8_t > &	pngData_arg,
		typename std::vector< T > &	imageData_arg,
		size_t &	width_arg,
		size_t &	height_arg,
		unsigned int &	channels_arg
	)

Definition at line 177 of file libpng_wrapper.cpp.

void pcl::io::decodePNGToImage	(	std::vector< uint8_t > &	pngData_arg,
		std::vector< uint8_t > &	imageData_arg,
		size_t &	width_arg,
		size_t &	heigh_argt,
		unsigned int &	channels_arg
	)

Decode compressed PNG to 8-bit image.

Parameters:

[in]	pngData	PNG compressed input data
[in]	imageData	image output data
[out]	width	image width
[out]	height	image height
[out]	channels	number of channels

Definition at line 315 of file libpng_wrapper.cpp.

void pcl::io::decodePNGToImage	(	std::vector< uint8_t > &	pngData_arg,
		std::vector< uint16_t > &	imageData_arg,
		size_t &	width_arg,
		size_t &	height_arg,
		unsigned int &	channels_arg
	)

Decode compressed PNG to 16-bit image.

Parameters:

[in]	pngData	PNG compressed input data
[in]	imageData	image output data
[out]	width	image width
[out]	height	image height
[out]	channels	number of channels

Definition at line 326 of file libpng_wrapper.cpp.

template<typename T >

void pcl::io::encodeImageToPNG	(	typename std::vector< T > &	image_arg,
		size_t	width_arg,
		size_t	height_arg,
		int	image_format_arg,
		typename std::vector< uint8_t > &	pngData_arg,
		int	png_level_arg
	)

Definition at line 84 of file libpng_wrapper.cpp.

void pcl::io::encodeMonoImageToPNG	(	std::vector< uint8_t > &	image_arg,
		size_t	width_arg,
		size_t	height_arg,
		std::vector< uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

Encodes 8-bit mono image to PNG format.

Parameters:

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Definition at line 263 of file libpng_wrapper.cpp.

void pcl::io::encodeMonoImageToPNG	(	std::vector< uint16_t > &	image_arg,
		size_t	width_arg,
		size_t	height_arg,
		std::vector< uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

Encodes 16-bit mono image to PNG format.

Parameters:

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Definition at line 276 of file libpng_wrapper.cpp.

void pcl::io::encodeRGBImageToPNG	(	std::vector< uint8_t > &	image_arg,
		size_t	width_arg,
		size_t	height_arg,
		std::vector< uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

Encodes 8-bit RGB image to PNG format.

Parameters:

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Definition at line 289 of file libpng_wrapper.cpp.

void pcl::io::encodeRGBImageToPNG	(	std::vector< uint16_t > &	image_arg,
		size_t	width_arg,
		size_t	height_arg,
		std::vector< uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

Encodes 16-bit RGB image to PNG format.

Parameters:

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Definition at line 302 of file libpng_wrapper.cpp.

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)		`[inline]`

Load a PCD v.6 file into a templated PointCloud type.

Any PCD files > v.6 will generate a warning as a pcl/PCLPointCloud2 message cannot hold the sensor origin.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Definition at line 512 of file pcd_io.h.

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		`[inline]`

Load any PCD file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud
[out]	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)

Definition at line 527 of file pcd_io.h.

template<typename PointT >

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Load any PCD file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Definition at line 541 of file pcd_io.h.

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)		`[inline]`

Load a PLY v.6 file into a templated PointCloud type.

Any PLY files containg sensor data will generate a warning as a pcl/PCLPointCloud2 message cannot hold the sensor origin.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud

Definition at line 800 of file ply_io.h.

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		`[inline]`

Load any PLY file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud
[in]	origin	the sensor acquisition origin (only for > PLY_V7 - null if not present)
[in]	orientation	the sensor acquisition orientation if availble, identity if not present

Definition at line 815 of file ply_io.h.

template<typename PointT >

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Load any PLY file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud

Definition at line 829 of file ply_io.h.

int pcl::io::loadPolygonFile	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a PolygonMesh object given an input file name, based on the file extension.

Parameters:

[in]	file_name	the name of the file containing the polygon data
[out]	mesh	the object that we want to load the data in

Definition at line 50 of file vtk_lib_io.cpp.

int pcl::io::loadPolygonFileOBJ	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load an OBJ file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

Definition at line 133 of file vtk_lib_io.cpp.

int pcl::io::loadPolygonFileOBJ	(	const std::string &	file_name,
		pcl::TextureMesh &	mesh
	)

Load an OBJ file into a TextureMesh object.

Note:: In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&) method, this method also loads the uv-coordinates from the file. It does not load the material information.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

Definition at line 146 of file vtk_lib_io.cpp.

int pcl::io::loadPolygonFilePLY	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a PLY file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

Definition at line 119 of file vtk_lib_io.cpp.

int pcl::io::loadPolygonFileSTL	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load an STL file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

Definition at line 160 of file vtk_lib_io.cpp.

int pcl::io::loadPolygonFileVTK	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a VTK file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

Definition at line 105 of file vtk_lib_io.cpp.

int pcl::io::mesh2vtk	(	const pcl::PolygonMesh &	mesh,
		vtkSmartPointer< vtkPolyData > &	poly_data
	)

Convert a PCL PolygonMesh to a vtkPolyData object.

Parameters:

[in]	mesh	Reference to PCL Polygon Mesh
[out]	poly_data	Pointer (vtkSmartPointer) to a vtkPolyData object

Returns:: Number of points in the point cloud of mesh.

Definition at line 385 of file vtk_lib_io.cpp.

template<typename PointT >

void pcl::io::pointCloudTovtkPolyData	(	const pcl::PointCloud< PointT > &	cloud,
		vtkPolyData *const	polydata
	)

Convert a pcl::PointCloud object to a VTK PolyData one.

Parameters:

[in]	cloud	the input pcl::PointCloud object
[out]	polydata	the resultant VTK PolyData object

Definition at line 280 of file vtk_lib_io.hpp.

void pcl::io::pointCloudTovtkPolyData	(	const pcl::PCLPointCloud2Ptr &	cloud,
		vtkSmartPointer< vtkPolyData > &	poly_data
	)

Convert a PCLPointCloud2 object to a VTK PolyData object.

Parameters:

[in]	cloud	the input PCLPointCloud2Ptr object
[out]	poly_data	the resultant VTK PolyData object

Definition at line 520 of file vtk_lib_io.cpp.

template<typename PointT >

void pcl::io::pointCloudTovtkStructuredGrid	(	const pcl::PointCloud< PointT > &	cloud,
		vtkStructuredGrid *const	structured_grid
	)

Convert a pcl::PointCloud object to a VTK StructuredGrid one.

Parameters:

[in]	cloud	the input pcl::PointCloud object
[out]	structured_grid	the resultant VTK StructuredGrid object

Definition at line 392 of file vtk_lib_io.hpp.

void pcl::io::saveCharPNGFile	(	const std::string &	file_name,
		const unsigned char *	mono_image,
		int	width,
		int	height,
		int	channels
	)

Saves 8-bit encoded image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mono_image	image grayscale data
[in]	width	image width
[in]	height	image height
[in]	channels	number of channels

Definition at line 66 of file png_io.cpp.

int pcl::io::saveOBJFile	(	const std::string &	file_name,
		const pcl::TextureMesh &	tex_mesh,
		unsigned	precision = `5`
	)

Saves a TextureMesh in ascii OBJ format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	tex_mesh	the texture mesh to save
[in]	precision	the output ASCII precision

Definition at line 45 of file obj_io.cpp.

int pcl::io::saveOBJFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = `5`
	)

Saves a PolygonMesh in ascii PLY format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save
[in]	precision	the output ASCII precision default 5

Definition at line 242 of file obj_io.cpp.

int pcl::io::savePCDFile	(	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_mode = `false`
	)		`[inline]`

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	binary_mode	true for binary mode, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 563 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary_mode = `false`
	)		`[inline]`

Templated version for saving point cloud data to a PCD file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	binary_mode	true for binary mode, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 587 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const std::vector< int > &	indices,
		const bool	binary_mode = `false`
	)

Templated version for saving point cloud data to a PCD file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	indices	the set of indices to save
[in]	binary_mode	true for binary mode, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 650 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFileASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Templated version for saving point cloud data to a PCD file containing a specific given cloud format.

This version is to retain backwards compatibility.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 610 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFileBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Templated version for saving point cloud data to a PCD file containing a specific given cloud format. The resulting file will be an uncompressed binary.

This version is to retain backwards compatibility.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 626 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFileBinaryCompressed	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Templated version for saving point cloud data to a PCD file containing a specific given cloud format. This method will write a compressed binary file.

This version is to retain backwards compatibility.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 671 of file pcd_io.h.

int pcl::io::savePLYFile	(	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_mode = `false`,
		bool	use_camera = `true`
	)		`[inline]`

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	binary_mode	true for binary mode, false (default) for ASCII

Definition at line 844 of file ply_io.h.

template<typename PointT >

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary_mode = `false`
	)		`[inline]`

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	binary_mode	true for binary mode, false (default) for ASCII

Definition at line 861 of file ply_io.h.

template<typename PointT >

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const std::vector< int > &	indices,
		bool	binary_mode = `false`
	)

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	indices	the set of indices to save
[in]	binary_mode	true for binary mode, false (default) for ASCII

Definition at line 900 of file ply_io.h.

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = `5`
	)

Saves a PolygonMesh in ascii PLY format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save
[in]	precision	the output ASCII precision default 5

Definition at line 1543 of file ply_io.cpp.

template<typename PointT >

int pcl::io::savePLYFileASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 874 of file ply_io.h.

template<typename PointT >

int pcl::io::savePLYFileBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 886 of file ply_io.h.

int pcl::io::savePLYFileBinary	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Saves a PolygonMesh in binary PLY format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save

Definition at line 1663 of file ply_io.cpp.

void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< unsigned char > &	cloud
	)

Saves 8-bit grayscale cloud as image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	point cloud to save

Definition at line 94 of file png_io.h.

void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< unsigned short > &	cloud
	)

Saves 16-bit grayscale cloud as image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	point cloud to save

Definition at line 106 of file png_io.h.

template<typename T >

void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< T > &	cloud
	)

Saves RGB fields of cloud as image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	point cloud to save

Definition at line 117 of file png_io.h.

void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< pcl::PointXYZL > &	cloud
	)

Saves Labeled Point cloud as image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	point cloud to save

Warning: Converts to 16 bit (for png), labels using more than 16 bits will cause problems

Definition at line 137 of file png_io.h.

int pcl::io::savePolygonFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object given an input file name, based on the file extension.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

Definition at line 77 of file vtk_lib_io.cpp.

int pcl::io::savePolygonFilePLY	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into a PLY file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

Definition at line 190 of file vtk_lib_io.cpp.

int pcl::io::savePolygonFileSTL	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into an STL file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

Definition at line 207 of file vtk_lib_io.cpp.

int pcl::io::savePolygonFileVTK	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into a VTK file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

Definition at line 174 of file vtk_lib_io.cpp.

void pcl::io::saveRangeImagePlanarFilePNG	(	const std::string &	file_name,
		const pcl::RangeImagePlanar &	range_image
	)

Write a RangeImagePlanar object to a PNG file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	range_image	the object that contains the data

Definition at line 481 of file vtk_lib_io.cpp.

PCL_EXPORTS void pcl::io::saveRgbPNGFile	(	const std::string &	file_name,
		const unsigned char *	rgb_image,
		int	width,
		int	height
	)

Saves 8-bit encoded RGB image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	rgb_image	image rgb data
[in]	width	image width
[in]	height	image height

Definition at line 83 of file png_io.h.

void pcl::io::saveShortPNGFile	(	const std::string &	file_name,
		const unsigned short *	short_image,
		int	width,
		int	height,
		int	channels
	)

Saves 16-bit encoded image to PNG file.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	short_image	image short data
[in]	width	image width
[in]	height	image height
[in]	channels	number of channels

Definition at line 82 of file png_io.cpp.

template<typename PointT >

bool pcl::io::saveTARPointCloud	(	const std::string &	tar_filename,
		const PointCloud< PointT > &	cloud,
		const std::string &	pcd_filename
	)

Save a PointCloud dataset into a TAR file. Append if the file exists, or create a new one if not.

Parameters:

[in]	tar_filename	the name of the TAR file to save the cloud to
[in]	cloud	the point cloud dataset to save
[in]	pcd_filename	the internal name of the PCD file that should be stored in the TAR header

Remarks:: till implemented will return FALSE

Definition at line 94 of file tar.h.

int pcl::io::saveVTKFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	triangles,
		unsigned	precision = `5`
	)

Saves a PolygonMesh in ascii VTK format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	triangles	the polygonal mesh to save
[in]	precision	the output ASCII precision

Definition at line 48 of file vtk_io.cpp.

int pcl::io::saveVTKFile	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud,
		unsigned	precision = `5`
	)

Saves a PointCloud in ascii VTK format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	the point cloud to save
[in]	precision	the output ASCII precision

Definition at line 151 of file vtk_io.cpp.

template<typename T >

void pcl::io::swapByte ( T & value )

swaps byte of an arbitrary type T casting it to char*

Parameters:

value the data you want its bytes swapped

Definition at line 480 of file common/include/pcl/common/io.h.

template<>

void pcl::io::swapByte< 1 > ( char * bytes ) [inline]

specialization of swapByte for dimension 1

Parameters:

bytes char array to swap

Definition at line 445 of file common/include/pcl/common/io.h.

template<>

void pcl::io::swapByte< 2 > ( char * bytes ) [inline]

specialization of swapByte for dimension 2

Parameters:

bytes char array to swap

Definition at line 452 of file common/include/pcl/common/io.h.

template<>

void pcl::io::swapByte< 4 > ( char * bytes ) [inline]

specialization of swapByte for dimension 4

Parameters:

bytes char array to swap

Definition at line 458 of file common/include/pcl/common/io.h.

template<>

void pcl::io::swapByte< 8 > ( char * bytes ) [inline]

specialization of swapByte for dimension 8

Parameters:

bytes char array to swap

Definition at line 468 of file common/include/pcl/common/io.h.

int pcl::io::vtk2mesh	(	const vtkSmartPointer< vtkPolyData > &	poly_data,
		pcl::PolygonMesh &	mesh
	)

Convert vtkPolyData object to a PCL PolygonMesh.

Parameters:

[in]	poly_data	Pointer (vtkSmartPointer) to a vtkPolyData object
[out]	mesh	PCL Polygon Mesh to fill

Returns:: Number of points in the point cloud of mesh.

Definition at line 223 of file vtk_lib_io.cpp.

int pcl::io::vtk2mesh	(	const vtkSmartPointer< vtkPolyData > &	poly_data,
		pcl::TextureMesh &	mesh
	)

Convert vtkPolyData object to a PCL TextureMesh.

Note:: In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&) method, it fills the mesh with the uv-coordinates.

Parameters:

[in]	poly_data	Pointer (vtkSmartPointer) to a vtkPolyData object
[out]	mesh	PCL TextureMesh to fill

Returns:: Number of points in the point cloud of mesh.

TODO avoid copying here

TODO check for sub-meshes

Definition at line 345 of file vtk_lib_io.cpp.

template<typename PointT >

void pcl::io::vtkPolyDataToPointCloud	(	vtkPolyData *const	polydata,
		pcl::PointCloud< PointT > &	cloud
	)

Convert a VTK PolyData object to a pcl::PointCloud one.

Parameters:

[in]	polydata	the input VTK PolyData object
[out]	cloud	the resultant pcl::PointCloud object

Definition at line 65 of file vtk_lib_io.hpp.

template<typename PointT >

void pcl::io::vtkStructuredGridToPointCloud	(	vtkStructuredGrid *const	structured_grid,
		pcl::PointCloud< PointT > &	cloud
	)

Convert a VTK StructuredGrid object to a pcl::PointCloud one.

Parameters:

[in]	structured_grid	the input VTK StructuredGrid object
[out]	cloud	the resultant pcl::PointCloud object

Definition at line 154 of file vtk_lib_io.hpp.

Variable Documentation

struct configurationProfile_t pcl::io::compressionProfiles_[COMPRESSION_PROFILE_COUNT]

Definition at line 81 of file compression_profiles.h.

Namespaces

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

Function Documentation

Variable Documentation