Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement its virtual methodes. More...

#include <file_io.h>

Inheritance diagram for pcl::FileReader:

[legend]

List of all members.

Public Member Functions
	FileReader ()
	empty constructor
virtual int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)=0
	Read a point cloud data from a FILE 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 FILE file (FILE_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 FILE file, and convert it to the given template format.
virtual int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, unsigned int &data_idx, const int offset=0)=0
	Read a point cloud data header from a FILE file.
virtual	~FileReader ()
	empty destructor

Detailed Description

Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement its virtual methodes.

Author:: Nizar Sallem

Definition at line 54 of file io/include/pcl/io/file_io.h.

Constructor & Destructor Documentation

pcl::FileReader::FileReader ( ) [inline]

empty constructor

Definition at line 58 of file io/include/pcl/io/file_io.h.

virtual pcl::FileReader::~FileReader ( ) [inline, virtual]

empty destructor

Definition at line 60 of file io/include/pcl/io/file_io.h.

Member Function Documentation

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

Read a point cloud data from a FILE 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
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[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).

Implemented in pcl::PCDReader, and pcl::PLYReader.

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

Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note:: This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > FILE_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 in pcl::PCDReader, and pcl::PLYReader.

Definition at line 122 of file io/include/pcl/io/file_io.h.

template<typename PointT >

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

Read a point cloud data from any FILE 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 in pcl::PCDReader, and pcl::PLYReader.

Definition at line 140 of file io/include/pcl/io/file_io.h.

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

Read a point cloud data header from a FILE file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE 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)
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[out]	data_type	the type of data (binary data=1, ascii=0, etc)
[out]	data_idx	the offset of cloud data within 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).

Implemented in pcl::PLYReader, and pcl::PCDReader.

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

io/include/pcl/io/file_io.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation