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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYWriter:

Collaboration diagram for pcl::PLYWriter:

Public Member Functions
	PLYWriter ()
	Constructor. More...

	~PLYWriter ()
	Destructor. More...

std::string	generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
	Generate the header of a PLY v.7 file format. More...

std::string	generateHeaderASCII (const sensor_msgs::PointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
	Generate the header of a PLY v.7 file format. More...

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(), int precision=8, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points, in ASCII format. More...

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 PLY file containing n-D points, in BINARY format. More...

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 PLY file containing n-D points. More...

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(), bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points. More...

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(), bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points. More...

template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points. More...

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 FILE file containing n-D points. More...

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 FILE file containing n-D points. More...

Detailed Description

Point Cloud Data (PLY) file format writer.

Author: Nizar Sallem

Definition at line 456 of file ply_io.h.

Constructor & Destructor Documentation

pcl::PLYWriter::PLYWriter ( )

inline

Constructor.

Definition at line 460 of file ply_io.h.

pcl::PLYWriter::~PLYWriter ( )

inline

Destructor.

Definition at line 463 of file ply_io.h.

Member Function Documentation

std::string pcl::PLYWriter::generateHeaderASCII	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		int	valid_points,
		bool	use_camera = `true`
	)

inline

Generate the header of a PLY v.7 file format.

Parameters

[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 494 of file ply_io.h.

std::string pcl::PLYWriter::generateHeaderBinary	(	const sensor_msgs::PointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		int	valid_points,
		bool	use_camera = `true`
	)

inline

Generate the header of a PLY v.7 file format.

Parameters

[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 475 of file ply_io.h.

int pcl::FileWriter::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`
	)

inlineinherited

Save point cloud data to a FILE 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 FILE format, false (default) for ASCII
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Definition at line 192 of file file_io.h.

template<typename PointT >

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

inlineinherited

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

Definition at line 207 of file file_io.h.

int pcl::PLYWriter::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`
	)

inlinevirtual

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

Implements pcl::FileWriter.

Definition at line 539 of file ply_io.h.

int pcl::PLYWriter::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 ()`,
		bool	binary = `false`,
		bool	use_camera = `true`
	)

inline

Save point cloud data to a PLY 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 PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 561 of file ply_io.h.

int pcl::PLYWriter::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 ()`,
		bool	binary = `false`,
		bool	use_camera = `true`
	)

inline

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

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud data message (boost shared pointer)
[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 PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 584 of file ply_io.h.

template<typename PointT >

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary = `false`,
		bool	use_camera = `true`
	)

inline

Save point cloud data to a PLY 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 PLY format, false (default) for ASCII
[in]	use_camera	set to true to used camera element and false to use range_grid element

Definition at line 602 of file ply_io.h.

int pcl::PLYWriter::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()`,
		int	precision = `8`,
		bool	use_camera = `true`
	)

Save point cloud data to a PLY 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 data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	precision	the specified output numeric stream precision (default: 8)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

int pcl::PLYWriter::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 PLY 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 data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation