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

#include <pcd_io.h>

Inheritance diagram for pcl::PCDReader:

Public Types
enum	{ PCD_V6 = 0, PCD_V7 = 1 }
	Various PCD file versions. More...
Public Member Functions
	PCDReader ()
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset=0)
	Read a point cloud data from a PCD 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 PCD (PCD_V6) 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 PCD file, and convert it to the given template format.
int	readEigen (const std::string &file_name, pcl::PointCloud< Eigen::MatrixXf > &cloud, const int offset=0)
	Read a point cloud data from any PCD file, and convert it to a pcl::PointCloud<Eigen::MatrixXf> format.
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, unsigned int &data_idx, const int offset=0)
	Read a point cloud data header from a PCD file.
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset=0)
	Read a point cloud data header from a PCD file.
int	readHeaderEigen (const std::string &file_name, pcl::PointCloud< Eigen::MatrixXf > &cloud, int &pcd_version, int &data_type, unsigned int &data_idx, const int offset=0)
	Read a point cloud data header from a PCD file.
	~PCDReader ()

Detailed Description

Point Cloud Data (PCD) file format reader.

Author:: Radu Bogdan Rusu

Definition at line 52 of file pcd_io.h.

Member Enumeration Documentation

anonymous enum

Various PCD file versions.

PCD_V6 represents PCD files with version 0.6, which contain the following fields:

lines beginning with # are treated as comments
FIELDS ...
SIZE ...
TYPE ...
COUNT ...
WIDTH ...
HEIGHT ...
POINTS ...
DATA ascii/binary

Everything that follows DATA is intepreted as data points and will be read accordingly.

PCD_V7 represents PCD files with version 0.7 and has an important addon: it adds sensor origin/orientation (aka viewpoint) information to a dataset through the use of a new header field:

VIEWPOINT tx ty tz qw qx qy qz

Enumerator:

PCD_V6
PCD_V7

Definition at line 80 of file pcd_io.h.

Constructor & Destructor Documentation

pcl::PCDReader::PCDReader ( ) [inline]

Empty constructor

Definition at line 56 of file pcd_io.h.

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

Empty destructor

Definition at line 58 of file pcd_io.h.

Member Function Documentation

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

Read a point cloud data from a PCD 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 > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

---[ Binary mode only We must re-open the file and read with mmap () for binary

---[ Binary compressed mode only

Implements pcl::FileReader.

Definition at line 881 of file pcd_io.cpp.

int pcl::PCDReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		const int	offset = `0`
	)

Read a point cloud data from a PCD (PCD_V6) and store it into a sensor_msgs/PointCloud2.

Note:: This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > PCD_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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

Reimplemented from pcl::FileReader.

Definition at line 1427 of file pcd_io.cpp.

template<typename PointT >

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

Read a point cloud data from any PCD 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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

Reimplemented from pcl::FileReader.

Definition at line 233 of file pcd_io.h.

int pcl::PCDReader::readEigen	(	const std::string &	file_name,
		pcl::PointCloud< Eigen::MatrixXf > &	cloud,
		const int	offset = `0`
	)

Read a point cloud data from any PCD file, and convert it to a pcl::PointCloud<Eigen::MatrixXf> format.

Attention:: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

---[ Binary mode only We must re-open the file and read with mmap () for binary

---[ Binary compressed mode only

Definition at line 1243 of file pcd_io.cpp.

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

Read a point cloud data header from a PCD file.

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

Attention:: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

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 > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

Implements pcl::FileReader.

Definition at line 69 of file pcd_io.cpp.

int pcl::PCDReader::readHeader	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		const int	offset = `0`
	)

Read a point cloud data header from a PCD file.

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

Attention:: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

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]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

Definition at line 357 of file pcd_io.cpp.

int pcl::PCDReader::readHeaderEigen	(	const std::string &	file_name,
		pcl::PointCloud< Eigen::MatrixXf > &	cloud,
		int &	pcd_version,
		int &	data_type,
		unsigned int &	data_idx,
		const int	offset = `0`
	)

Read a point cloud data header from a PCD file.

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

Attention:: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only the properties will be filled)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

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

Definition at line 619 of file pcd_io.cpp.

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

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation