pcl::PCDWriter Class Reference

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

#include <pcd_io.h>

List of all members.

Public Member Functions
std::string	generateHeaderASCII (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a PCD v.7 file format.
std::string	generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a PCD v.7 file format.
template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary=false)
	Save point cloud data to a PCD 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)
	Save point cloud data to a PCD 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)
	Save point cloud data to a PCD 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=7)
	Save point cloud data to a PCD 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 PCD file containing n-D points, in BINARY format.

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Detailed Description

Point Cloud Data (PCD) file format writer.

Author:

Radu Bogdan Rusu

Definition at line 146 of file pcd_io.h.

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Member Function Documentation

std::string pcl::PCDWriter::generateHeaderASCII	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation
	)

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

Parameters:

	cloud	the point cloud data message
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation

Definition at line 550 of file pcd_io.cpp.

std::string pcl::PCDWriter::generateHeaderBinary	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation
	)

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

Parameters:

	cloud	the point cloud data message
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation

Definition at line 596 of file pcd_io.cpp.

template<typename PointT >

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

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

Parameters:

	file_name	the output file name
	cloud	the pcl::PointCloud data
	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Definition at line 229 of file pcd_io.h.

int pcl::PCDWriter::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
	)			[inline]

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

Parameters:

	file_name	the output file name
	cloud	the point cloud data message (boost shared pointer)
	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation

Definition at line 215 of file pcd_io.h.

int pcl::PCDWriter::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
	)			[inline]

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

Parameters:

	file_name	the output file name
	cloud	the point cloud data message
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation
	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Definition at line 196 of file pcd_io.h.

int pcl::PCDWriter::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 = 7
	)

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

Parameters:

	file_name	the output file name
	cloud	the point cloud data message
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation
	precision	the specified output numeric stream precision (default: 7)

Definition at line 675 of file pcd_io.cpp.

int pcl::PCDWriter::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 PCD file containing n-D points, in BINARY format.

Parameters:

	file_name	the output file name
	cloud	the point cloud data message
	origin	the sensor acquisition origin
	orientation	the sensor acquisition orientation

Definition at line 781 of file pcd_io.cpp.

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

• pcd_io.h
• pcd_io.cpp