Point Cloud Library (PCL)
1.11.0
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44 #include <pcl/point_cloud.h>
45 #include <pcl/io/file_io.h>
113 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &pcd_version,
114 int &data_type,
unsigned int &data_idx);
147 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &pcd_version,
148 int &data_type,
unsigned int &data_idx,
const int offset = 0)
override;
215 int pcd_version,
bool compressed,
unsigned int data_idx);
236 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &pcd_version,
const int offset = 0)
override;
275 template<
typename Po
intT>
int
281 pcd_version, offset);
313 map_synchronization_ = sync;
323 const Eigen::Vector4f &origin,
324 const Eigen::Quaternionf &orientation);
339 const Eigen::Vector4f &origin,
340 const Eigen::Quaternionf &orientation);
349 const Eigen::Vector4f &origin,
350 const Eigen::Quaternionf &orientation);
359 const Eigen::Vector4f &origin,
360 const Eigen::Quaternionf &orientation);
367 template <
typename Po
intT>
static std::string
369 const int nr_points = std::numeric_limits<int>::max ());
389 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
390 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
391 const int precision = 8);
401 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
402 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
416 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
417 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
431 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
432 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
453 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
454 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
455 const bool binary =
false)
override
458 return (writeBinary (file_name, cloud, origin, orientation));
459 return (writeASCII (file_name, cloud, origin, orientation, 8));
479 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
480 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
481 const bool binary =
false)
483 return (
write (file_name, *cloud, origin, orientation, binary));
490 template <
typename Po
intT>
int
491 writeBinary (
const std::string &file_name,
502 template <
typename Po
intT>
int
503 writeBinaryCompressed (
const std::string &file_name,
511 template <
typename Po
intT>
int
512 writeBinary (
const std::string &file_name,
514 const std::vector<int> &indices);
521 template <
typename Po
intT>
int
522 writeASCII (
const std::string &file_name,
524 const int precision = 8);
532 template <
typename Po
intT>
int
533 writeASCII (
const std::string &file_name,
535 const std::vector<int> &indices,
536 const int precision = 8);
551 template<
typename Po
intT>
inline int
552 write (
const std::string &file_name,
554 const bool binary =
false)
557 return (writeBinary<PointT> (file_name, cloud));
558 return (writeASCII<PointT> (file_name, cloud));
575 template<
typename Po
intT>
inline int
576 write (
const std::string &file_name,
578 const std::vector<int> &indices,
582 return (writeBinary<PointT> (file_name, cloud, indices));
583 return (writeASCII<PointT> (file_name, cloud, indices));
593 boost::interprocess::file_lock &lock);
601 boost::interprocess::file_lock &lock);
605 bool map_synchronization_;
623 return (p.
read (file_name, cloud));
636 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
640 return (p.
read (file_name, cloud, origin, orientation, pcd_version));
648 template<
typename Po
intT>
inline int
652 return (p.
read (file_name, cloud));
672 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
673 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
674 const bool binary_mode =
false)
677 return (w.
write (file_name, cloud, origin, orientation, binary_mode));
694 template<
typename Po
intT>
inline int
698 return (w.
write<
PointT> (file_name, cloud, binary_mode));
717 template<
typename Po
intT>
inline int
721 return (w.
write<
PointT> (file_name, cloud,
false));
733 template<
typename Po
intT>
inline int
757 template<
typename Po
intT>
int
760 const std::vector<int> &indices,
761 const bool binary_mode =
false)
765 return (w.
write<
PointT> (file_name, cloud, indices, binary_mode));
778 template<
typename Po
intT>
inline int
788 #include <pcl/io/impl/pcd_io.hpp>
Defines all the PCL and non-PCL macros used.
void resetLockingPermissions(const std::string &file_name, boost::interprocess::file_lock &lock)
Reset permissions for file locking (Boost 1.49+).
int writeASCII(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const int precision=8)
Save point cloud data to a PCD file containing n-D points, in ASCII format.
int generateHeaderBinaryCompressed(std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a BINARY_COMPRESSED PCD file format.
int write(const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
Save point cloud data to a PCD file containing n-D points.
int write(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false) override
Save point cloud data to a PCD file containing n-D points.
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.
std::string generateHeaderASCII(const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format.
int writeBinaryCompressed(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format.
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
int savePCDFileASCII(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
Point Cloud Data (FILE) file format writer.
int writeBinaryCompressed(std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format.
int savePCDFile(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary_mode=false)
Save point cloud data to a PCD file containing n-D points.
std::string generateHeaderBinary(const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format.
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
~PCDReader()
Empty destructor.
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) override
Read a point cloud data header from a PCD file.
void setMapSynchronization(bool sync)
Set whether mmap() synchornization via msync() is desired before munmap() calls.
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.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
int write(const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, bool binary=false)
Save point cloud data to a PCD file containing n-D points.
PCDReader()
Empty constructor.
int writeBinary(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a PCD file containing n-D points, in BINARY format.
std::string generateHeaderBinaryCompressed(const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a BINARY_COMPRESSED PCD file format.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
int write(const std::string &file_name, const pcl::PCLPointCloud2::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 PCD file containing n-D points.
Point Cloud Data (FILE) file format reader interface.
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
int savePCDFileBinary(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
int readHeader(const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0)
Read a point cloud data header from a PCD file.
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
void setLockingPermissions(const std::string &file_name, boost::interprocess::file_lock &lock)
Set permissions for file locking (Boost 1.49+).
int loadPCDFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)
Load a PCD v.6 file into a templated PointCloud type.
int readBodyASCII(std::istream &stream, pcl::PCLPointCloud2 &cloud, int pcd_version)
Read the point cloud data (body) from a PCD stream.
Point Cloud Data (PCD) file format reader.
int savePCDFileBinaryCompressed(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
int read(const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset=0) override
Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.
Defines functions, macros and traits for allocating and using memory.
Point Cloud Data (PCD) file format writer.
int readHeader(std::istream &binary_istream, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, unsigned int &data_idx)
Read a point cloud data header from a PCD-formatted, binary istream.
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
int readBodyBinary(const unsigned char *data, pcl::PCLPointCloud2 &cloud, int pcd_version, bool compressed, unsigned int data_idx)
Read the point cloud data (body) from a block of memory.