pcl::PLYReader Class Reference

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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYReader:

Collaboration diagram for pcl::PLYReader:

Public Types
enum	{ PLY_V0 = 0, PLY_V1 = 1 }

Public Member Functions
	PLYReader ()
	PLYReader (const PLYReader &p)
PLYReader &	operator= (const PLYReader &p)
	~PLYReader ()
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, int &data_type, unsigned int &data_idx, const int offset=0)
	Read a point cloud data header from a PLY file. More...
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, const int offset=0)
	Read a point cloud data from a PLY 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 PLY file (PLY_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 PLY file, and convert it to the given template format. More...

Detailed Description

Point Cloud Data (PLY) file format reader.

The PLY data format is organized in the following way: lines beginning with "comment" are treated as comments

• ply
• format [ascii|binary_little_endian|binary_big_endian] 1.0
• element vertex COUNT
• property float x
• property float y
• [property float z]
• [property float normal_x]
• [property float normal_y]
• [property float normal_z]
• [property uchar red]
• [property uchar green]
• [property uchar blue] ...
• ascii/binary point coordinates
• [element camera 1]
• [property float view_px] ...
• [element range_grid COUNT]
• [property list uchar int vertex_indices]
• end header

Author

Nizar Sallem

Definition at line 77 of file ply_io.h.

Member Enumeration Documentation

anonymous enum

Enumerator
PLY_V0
PLY_V1

Definition at line 80 of file ply_io.h.

Constructor & Destructor Documentation

pcl::PLYReader::PLYReader ( )

inline

Definition at line 86 of file ply_io.h.

pcl::PLYReader::PLYReader ( const PLYReader &  p)

inline

Definition at line 101 of file ply_io.h.

pcl::PLYReader::~PLYReader ( )

inline

Definition at line 126 of file ply_io.h.

Member Function Documentation

PLYReader& pcl::PLYReader::operator= ( const PLYReader &  p)

inline

Definition at line 118 of file ply_io.h.

int pcl::PLYReader::read ( const std::string &  file_name, sensor_msgs::PointCloud2 &  cloud, Eigen::Vector4f &  origin, Eigen::Quaternionf &  orientation, int &  ply_version, const int  offset = 0  )

virtual

Read a point cloud data from a PLY 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
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[out]	ply_version	the PLY version read from 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).

Implements pcl::FileReader.

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

inline

Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note

This function is provided for backwards compatibility only and it can only read PLY_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file

PLY_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 186 of file ply_io.h.

template<typename PointT >

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

inline

Read a point cloud data from any PLY 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 204 of file ply_io.h.

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

virtual

Read a point cloud data header from a PLY file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PLY 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)
  [in]	origin	the sensor data acquisition origin (translation)
  [in]	orientation	the sensor data acquisition origin (rotation)
  [out]	ply_version	the PLY version read from the file
  [out]	data_type	the type of PLY data stored in the file
  [out]	data_idx	the data index
  [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).

Implements pcl::FileReader.

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

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