Point Cloud Data (FILE) file format reader interface.
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#include <pcl/io/file_io.h>
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| FileReader () |
| empty constructor More...
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virtual | ~FileReader () |
| empty destructor More...
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virtual int | readHeader (const std::string &file_name, pcl::PCLPointCloud2 &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...
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virtual int | read (const std::string &file_name, pcl::PCLPointCloud2 &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 pcl/PCLPointCloud2. More...
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int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2. More...
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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...
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Point Cloud Data (FILE) file format reader interface.
Any (FILE) format file reader should implement its virtual methods.
- Author
- Nizar Sallem
Definition at line 55 of file file_io.h.
◆ FileReader()
pcl::FileReader::FileReader |
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inline |
empty constructor
Definition at line 59 of file file_io.h.
◆ ~FileReader()
virtual pcl::FileReader::~FileReader |
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inlinevirtual |
empty destructor
Definition at line 61 of file file_io.h.
◆ read() [1/3]
int pcl::FileReader::read |
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const std::string & |
file_name, |
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pcl::PCLPointCloud2 & |
cloud, |
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const int |
offset = 0 |
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inline |
Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
- Note
- This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file
FILE_V6 will generate a warning.
- Parameters
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[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 123 of file file_io.h.
◆ read() [2/3]
virtual int pcl::FileReader::read |
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const std::string & |
file_name, |
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pcl::PCLPointCloud2 & |
cloud, |
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Eigen::Vector4f & |
origin, |
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Eigen::Quaternionf & |
orientation, |
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int & |
file_version, |
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const int |
offset = 0 |
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pure virtual |
Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
- Parameters
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[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::PLYReader, pcl::PCDReader, pcl::OBJReader, and pcl::ASCIIReader.
◆ read() [3/3]
template<typename PointT >
int pcl::FileReader::read |
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const std::string & |
file_name, |
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pcl::PointCloud< PointT > & |
cloud, |
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const int |
offset = 0 |
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inline |
Read a point cloud data from any FILE file, and convert it to the given template format.
- Parameters
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[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 141 of file file_io.h.
◆ readHeader()
virtual int pcl::FileReader::readHeader |
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const std::string & |
file_name, |
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pcl::PCLPointCloud2 & |
cloud, |
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Eigen::Vector4f & |
origin, |
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Eigen::Quaternionf & |
orientation, |
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int & |
file_version, |
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int & |
data_type, |
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unsigned int & |
data_idx, |
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const int |
offset = 0 |
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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
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[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, pcl::PCDReader, pcl::ASCIIReader, and pcl::OBJReader.
The documentation for this class was generated from the following file: