pcl::io Namespace Reference

Functions
template<typename PointT >
int	loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any PCD file into a templated PointCloud type.
int	loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
	Load any PCD file into a templated PointCloud type.
int	loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
	Load a PCD v.6 file into a templated PointCloud type. Any PCD files > v.6 will generate a warning as a sensor_msgs/PointCloud2 message cannot hold the sensor origin.
template<typename PointT >
int	savePCDFile (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 PCD file containing a specific given cloud format.
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.
int	savePCDFile (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_mode=false)
	Save point cloud data to a PCD file containing n-D points.
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. This version is to retain backwards compatibility.
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. This version is to retain backwards compatibility.
int	saveVTKFile (const std::string &file_name, const pcl::PolygonMesh &triangles, unsigned precision=5)
	Saves a PolygonMesh in ascii VTK format.

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Function Documentation

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:

	file_name	the name of the file to load
	cloud	the resultant templated point cloud

Definition at line 279 of file pcd_io.h.

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)			[inline]

Load any PCD file into a templated PointCloud type.

Parameters:

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

Definition at line 265 of file pcd_io.h.

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud
	)			[inline]

Load a PCD v.6 file into a templated PointCloud type. Any PCD files > v.6 will generate a warning as a sensor_msgs/PointCloud2 message cannot hold the sensor origin.

Parameters:

	file_name	the name of the file to load
	cloud	the resultant templated point cloud

Definition at line 251 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,
		bool	binary_mode = false
	)			[inline]

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

Parameters:

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

Definition at line 353 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:

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

Definition at line 310 of file pcd_io.h.

int pcl::io::savePCDFile	(	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_mode = 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_mode	true for binary mode, false (default) for ASCII

Definition at line 294 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:

	file_name	the output file name
	cloud	the point cloud data message

Definition at line 324 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. This version is to retain backwards compatibility.

Parameters:

	file_name	the output file name
	cloud	the point cloud data message

Definition at line 338 of file pcd_io.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:

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

Definition at line 45 of file vtk_io.cpp.