pcl::PLYWriter Class Reference

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

#include <ply_io.h>

Inheritance diagram for pcl::PLYWriter:

List of all members.

Public Member Functions
std::string	generateHeaderASCII (const sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2::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 sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
	Save point cloud data to a PLY file containing n-D points, in BINARY format.
	~PLYWriter ()
	Destructor.
Private Member Functions
std::string	generateHeader (const sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, std::ofstream &fs)
void	writeContentWithRangeGridASCII (int nr_points, int point_size, const sensor_msgs::PointCloud2 &cloud, std::ostringstream &fs, int &nb_valid_points)

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Detailed Description

Point Cloud Data (PLY) file format writer.

Author:

Nizar Sallem

Definition at line 456 of file ply_io.h.

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Constructor & Destructor Documentation

pcl::PLYWriter::PLYWriter

(

)

[inline]

Constructor.

Definition at line 460 of file ply_io.h.

pcl::PLYWriter::~PLYWriter

(

)

[inline]

Destructor.

Definition at line 463 of file ply_io.h.

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Member Function Documentation

std::string pcl::PLYWriter::generateHeader	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		bool	binary,
		bool	use_camera,
		int	valid_points
	)		[private]

Generate a PLY header.

Parameters:

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

Definition at line 453 of file ply_io.cpp.

std::string pcl::PLYWriter::generateHeaderASCII	(	const sensor_msgs::PointCloud2 &	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]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 494 of file ply_io.h.

std::string pcl::PLYWriter::generateHeaderBinary	(	const sensor_msgs::PointCloud2 &	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]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 475 of file ply_io.h.

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2 &	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_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	set to true if the file is to be written in a binary PLY format, false (default) for ASCII

Implements pcl::FileWriter.

Definition at line 539 of file ply_io.h.

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2 &	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_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	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 561 of file ply_io.h.

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2::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_name	the output file name
[in]	cloud	the point cloud data message (boost shared pointer)
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 584 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_name	the output file name
[in]	cloud	the pcl::PointCloud data
[in]	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 602 of file ply_io.h.

int pcl::PLYWriter::writeASCII	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2 &	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_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]	precision	the specified output numeric stream precision (default: 8)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 601 of file ply_io.cpp.

int pcl::PLYWriter::writeBinary	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin = Eigen::Vector4f::Zero (),
		const Eigen::Quaternionf &	orientation = Eigen::Quaternionf::Identity ()
	)

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

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)

Definition at line 944 of file ply_io.cpp.

void pcl::PLYWriter::writeContentWithCameraASCII	(	int	nr_points,
		int	point_size,
		const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		std::ofstream &	fs
	)		[private]

Definition at line 648 of file ply_io.cpp.

void pcl::PLYWriter::writeContentWithRangeGridASCII	(	int	nr_points,
		int	point_size,
		const sensor_msgs::PointCloud2 &	cloud,
		std::ostringstream &	fs,
		int &	nb_valid_points
	)		[private]

Definition at line 794 of file ply_io.cpp.

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

• ply_io.h
• ply_io.cpp