Point Cloud Data (FILE) file format reader interface. More...

#include <pcl/io/file_io.h>

Inheritance diagram for pcl::FileReader:

Public Member Functions
	FileReader ()
	empty constructor More...

virtual	~FileReader ()
	empty destructor More...

virtual int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, unsigned int &data_idx, const int offset=0)=0
	Read a point cloud data header from a FILE file. More...

virtual int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)=0
	Read a point cloud data from a FILE file and store it into a sensor_msgs/PointCloud2. More...

int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset=0)
	Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a sensor_msgs/PointCloud2. More...

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 FILE file, and convert it to the given template format. More...

Detailed Description

Point Cloud Data (FILE) file format reader interface.

Any (FILE) format file reader should implement its virtual methodes.

Author: Nizar Sallem

Definition at line 54 of file file_io.h.

Constructor & Destructor Documentation

pcl::FileReader::FileReader ( )

inline

empty constructor

Definition at line 58 of file file_io.h.

virtual pcl::FileReader::~FileReader ( )

inlinevirtual

empty destructor

Definition at line 60 of file file_io.h.

Member Function Documentation

virtual int pcl::FileReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	file_version,
		const int	offset = `0`
	)

pure virtual

Read a point cloud data from a FILE file and store it into a sensor_msgs/PointCloud2.

Parameters

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple 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).

Implemented in pcl::PCDReader, and pcl::PLYReader.

int pcl::FileReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		const int	offset = `0`
	)

inline

Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note: This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file

FILE_V6 will generate a warning.

Parameters

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple 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).

Definition at line 122 of file file_io.h.

template<typename PointT >

int pcl::FileReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud,
		const int	offset = `0`
	)

inline

Read a point cloud data from any FILE file, and convert it to the given template format.

Parameters

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple 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).

Definition at line 140 of file file_io.h.

virtual int pcl::FileReader::readHeader	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	file_version,
		int &	data_type,
		unsigned int &	data_idx,
		const int	offset = `0`
	)

pure virtual

Read a point cloud data header from a FILE file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.

Returns:

< 0 (-1) on error

> 0 on success

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only the header will be filled)
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[out]	data_type	the type of data (binary data=1, ascii=0, etc)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple 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).

Implemented in pcl::PLYReader, and pcl::PCDReader.

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

/builddir/build/BUILD/PCL-1.6.0-Source/io/include/pcl/io/file_io.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation