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

#include <pcd_io.h>

Inheritance diagram for pcl::PCDWriter:

Classes
struct	ChannelPropertiesComparator
	Internal structure used to sort the ChannelProperties in the cloud.channels map based on their offset. More...
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 file format.
std::string	generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a PCD file format.
std::string	generateHeaderBinaryCompressed (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a BINARY_COMPRESSED PCD file format.
std::string	generateHeaderEigen (const pcl::PointCloud< Eigen::MatrixXf > &cloud, const int nr_points=std::numeric_limits< int >::max())
	Generate the header of a PCD file format.
	PCDWriter ()
void	setMapSynchronization (bool sync)
	Set whether mmap() synchornization via msync() is desired before munmap() calls. Setting this to true could prevent NFS data loss (see http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html). Default: false.
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 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(), const bool binary=false)
	Save point cloud data to a PCD file containing n-D points.
template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
	Save point cloud data to a PCD file containing n-D points.
template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, 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(), const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format.
template<typename PointT >
int	writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format.
template<typename PointT >
int	writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format.
int	writeASCIIEigen (const std::string &file_name, const pcl::PointCloud< Eigen::MatrixXf > &cloud, const int precision=8)
	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.
template<typename PointT >
int	writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud data to a PCD file containing n-D points, in BINARY format.
template<typename PointT >
int	writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices)
	Save point cloud data to a PCD file containing n-D points, in BINARY format.
int	writeBinaryCompressed (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_COMPRESSED format.
template<typename PointT >
int	writeBinaryCompressed (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud data to a binary comprssed PCD file.
int	writeBinaryCompressedEigen (const std::string &file_name, const pcl::PointCloud< Eigen::MatrixXf > &cloud)
	Save point cloud data to a binary comprssed PCD file.
int	writeBinaryEigen (const std::string &file_name, const pcl::PointCloud< Eigen::MatrixXf > &cloud)
	Save point cloud data to a PCD file containing n-D points, in BINARY format.
	~PCDWriter ()
Static Public Member Functions
template<typename PointT >
static std::string	generateHeader (const pcl::PointCloud< PointT > &cloud, const int nr_points=std::numeric_limits< int >::max())
	Generate the header of a PCD file format.
Private Types
typedef std::pair< std::string, pcl::ChannelProperties >	pair_channel_properties
Private Attributes
bool	map_synchronization_
	Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems.

Detailed Description

Point Cloud Data (PCD) file format writer.

Author:: Radu Bogdan Rusu

Definition at line 271 of file pcd_io.h.

Member Typedef Documentation

typedef std::pair<std::string, pcl::ChannelProperties> pcl::PCDWriter::pair_channel_properties [private]

Definition at line 580 of file pcd_io.h.

Constructor & Destructor Documentation

pcl::PCDWriter::PCDWriter ( ) [inline]

Definition at line 274 of file pcd_io.h.

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

Definition at line 275 of file pcd_io.h.

Member Function Documentation

template<typename PointT >

std::string pcl::PCDWriter::generateHeader	(	const pcl::PointCloud< PointT > &	cloud,
		const int	nr_points = `std::numeric_limits<int>::max ()`
	)		`[static]`

Generate the header of a PCD file format.

Parameters:

[in]	cloud	the point cloud data message
[in]	nr_points	if given, use this to fill in WIDTH, HEIGHT (=1), and POINTS in the header By default, nr_points is set to INTMAX, and the data in the header is used instead.

Definition at line 73 of file pcd_io.hpp.

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

Generate the header of a PCD file format.

Parameters:

[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Definition at line 1443 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 file format.

Parameters:

[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Definition at line 1543 of file pcd_io.cpp.

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

Generate the header of a BINARY_COMPRESSED PCD file format.

Parameters:

[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Definition at line 1624 of file pcd_io.cpp.

std::string pcl::PCDWriter::generateHeaderEigen	(	const pcl::PointCloud< Eigen::MatrixXf > &	cloud,
		const int	nr_points = `std::numeric_limits<int>::max ()`
	)

Generate the header of a PCD file format.

Note:: This version is specialized for PointCloud<Eigen::MatrixXf> data types.

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]	cloud	the point cloud data message
[in]	nr_points	if given, use this to fill in WIDTH, HEIGHT (=1), and POINTS in the header By default, nr_points is set to INTMAX, and the data in the header is used instead.

Definition at line 2066 of file pcd_io.cpp.

void pcl::PCDWriter::setMapSynchronization ( bool sync ) [inline]

Set whether mmap() synchornization via msync() is desired before munmap() calls. Setting this to true could prevent NFS data loss (see http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html). Default: false.

Note:: This option should be used by advanced users only!; Please note that using msync() on certain systems can reduce the I/O performance by up to 80%!

Parameters:

[in] sync set to true if msync() should be called before munmap()

Definition at line 286 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 ()`,
		const bool	binary = `false`
	)		`[inline, virtual]`

Save point cloud data to a PCD 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 PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.

Implements pcl::FileWriter.

Definition at line 405 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 ()`,
		const bool	binary = `false`
	)		`[inline]`

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

Parameters:

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

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Reimplemented from pcl::FileWriter.

Definition at line 432 of file pcd_io.h.

template<typename PointT >

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

Save point cloud data to a PCD 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 PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Reimplemented from pcl::FileWriter.

Definition at line 540 of file pcd_io.h.

template<typename PointT >

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

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the pcl::PointCloud data
[in]	indices	the set of point indices that we want written to disk
[in]	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 565 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 ()`,
		const int	precision = `8`
	)

Save point cloud data to a PCD 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 acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	precision	the specified output numeric stream precision (default: 8)

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.

Definition at line 1677 of file pcd_io.cpp.

template<typename PointT >

int pcl::PCDWriter::writeASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const int	precision = `8`
	)

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	precision	the specified output numeric stream precision (default: 8)

Definition at line 435 of file pcd_io.hpp.

template<typename PointT >

int pcl::PCDWriter::writeASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const std::vector< int > &	indices,
		const int	precision = `8`
	)

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	indices	the set of point indices that we want written to disk
[in]	precision	the specified output numeric stream precision (default: 8)

Definition at line 718 of file pcd_io.hpp.

int pcl::PCDWriter::writeASCIIEigen	(	const std::string &	file_name,
		const pcl::PointCloud< Eigen::MatrixXf > &	cloud,
		const int	precision = `8`
	)

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

Note:: This version is specialized for PointCloud<Eigen::MatrixXf> data types.

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 output file name
[in]	cloud	the point cloud data message
[in]	precision	the specified output numeric stream precision (default: 8)

Definition at line 2120 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:

[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

Definition at line 1785 of file pcd_io.cpp.

template<typename PointT >

int pcl::PCDWriter::writeBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 125 of file pcd_io.hpp.

template<typename PointT >

int pcl::PCDWriter::writeBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const std::vector< int > &	indices
	)

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

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	indices	the set of point indices that we want written to disk

Definition at line 590 of file pcd_io.hpp.

int pcl::PCDWriter::writeBinaryCompressed	(	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_COMPRESSED format.

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

Definition at line 1882 of file pcd_io.cpp.

template<typename PointT >

int pcl::PCDWriter::writeBinaryCompressed	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

Save point cloud data to a binary comprssed PCD file.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 252 of file pcd_io.hpp.

int pcl::PCDWriter::writeBinaryCompressedEigen	(	const std::string &	file_name,
		const pcl::PointCloud< Eigen::MatrixXf > &	cloud
	)

Save point cloud data to a binary comprssed PCD file.

Note:: This version is specialized for PointCloud<Eigen::MatrixXf> data types.

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 output file name
[in]	cloud	the point cloud data message

Definition at line 2280 of file pcd_io.cpp.

int pcl::PCDWriter::writeBinaryEigen	(	const std::string &	file_name,
		const pcl::PointCloud< Eigen::MatrixXf > &	cloud
	)

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

Note:: This version is specialized for PointCloud<Eigen::MatrixXf> data types.

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 output file name
[in]	cloud	the point cloud data

Definition at line 2175 of file pcd_io.cpp.

Member Data Documentation

bool pcl::PCDWriter::map_synchronization_ [private]

Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems.

Definition at line 578 of file pcd_io.h.

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

Classes

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation