Public Types | Public Member Functions
pcl::PCDReader Class Reference

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

#include <pcd_io.h>

Inheritance diagram for pcl::PCDReader:
Inheritance graph
[legend]

List of all members.

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, pcl::PCLPointCloud2 &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 pcl/PCLPointCloud2.
int read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0)
 Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.
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 readHeader (const std::string &file_name, pcl::PCLPointCloud2 &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, pcl::PCLPointCloud2 &cloud, 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 B. 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 81 of file pcd_io.h.


Constructor & Destructor Documentation

Empty constructor

Definition at line 56 of file pcd_io.h.

Empty destructor

Definition at line 58 of file pcd_io.h.


Member Function Documentation

int pcl::PCDReader::read ( const std::string file_name,
pcl::PCLPointCloud2 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 pcl/PCLPointCloud2.

Parameters:
[in]file_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[out]originthe sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]orientationthe sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]pcd_versionthe PCD version of the file (either PCD_V6 or PCD_V7)
[in]offsetthe 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 665 of file pcd_io.cpp.

int pcl::PCDReader::read ( const std::string file_name,
pcl::PCLPointCloud2 cloud,
const int  offset = 0 
)

Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.

Note:
This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file > PCD_V6 will generate a warning.
Parameters:
[in]file_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[in]offsetthe 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 1041 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_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[in]offsetthe 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 204 of file pcd_io.h.

int pcl::PCDReader::readHeader ( const std::string file_name,
pcl::PCLPointCloud2 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_namethe name of the file to load
[out]cloudthe resultant point cloud dataset (only the header will be filled)
[out]originthe sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]orientationthe sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]pcd_versionthe PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]data_typethe type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]data_idxthe offset of cloud data within the file
[in]offsetthe 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 111 of file pcd_io.cpp.

int pcl::PCDReader::readHeader ( const std::string file_name,
pcl::PCLPointCloud2 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_namethe name of the file to load
[out]cloudthe resultant point cloud dataset (only the header will be filled)
[in]offsetthe 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 401 of file pcd_io.cpp.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:42:48