Point Cloud Library (PCL)
1.3.1
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Point Cloud Data (FILE) file format reader interface. More...
#include <pcl/io/file_io.h>
Public Member Functions | |
FileReader () | |
empty constructor | |
virtual | ~FileReader () |
empty destructor | |
virtual int | readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, int &data_idx)=0 |
Read a point cloud data header from a FILE file. | |
virtual int | read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version)=0 |
Read a point cloud data from a FILE file and store it into a sensor_msgs/PointCloud2. | |
int | read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud) |
Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a sensor_msgs/PointCloud2. | |
template<typename PointT > | |
int | read (const std::string &file_name, pcl::PointCloud< PointT > &cloud) |
Read a point cloud data from any FILE file, and convert it to the given template format. | |
template<typename Type > | |
void | copyStringValue (const std::string &st, sensor_msgs::PointCloud2 &cloud, unsigned int point_index, unsigned int field_idx, unsigned int fields_count) |
Copy one single value of type T (uchar, char, uint, int, float, double, ...) from a string. |
Point Cloud Data (FILE) file format reader interface.
Any (FILE) format file reader should implement its virtual methodes.
virtual pcl::FileReader::~FileReader | ( | ) | [inline, virtual] |
void pcl::FileReader::copyStringValue | ( | const std::string & | st, |
sensor_msgs::PointCloud2 & | cloud, | ||
unsigned int | point_index, | ||
unsigned int | field_idx, | ||
unsigned int | fields_count | ||
) | [inline] |
Copy one single value of type T (uchar, char, uint, int, float, double, ...) from a string.
Uses aoti/atof to do the conversion. Checks if the st is "nan" and converts it accordingly.
st | the string containing the value to convert and copy |
cloud | the cloud to copy it to |
point_index | the index of the point |
field_idx | the index of the dimension/field |
fields_count | the current fields count |
virtual int pcl::FileReader::read | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud, | ||
Eigen::Vector4f & | origin, | ||
Eigen::Quaternionf & | orientation, | ||
int & | file_version | ||
) | [pure virtual] |
Read a point cloud data from a FILE file and store it into a sensor_msgs/PointCloud2.
file_name | the name of the file containing the actual PointCloud data |
cloud | the resultant PointCloud message read from disk |
origin | the sensor acquisition origin (only for > FILE_V7 - null if not present) |
orientation | the sensor acquisition orientation (only for > FILE_V7 - identity if not present) |
file_version | the FILE version of the file (either FILE_V6 or FILE_V7) |
Implemented in pcl::PCDReader, and pcl::PLYReader.
int pcl::FileReader::read | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud | ||
) | [inline] |
Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a sensor_msgs/PointCloud2.
file_name | the name of the file containing the actual PointCloud data |
cloud | the resultant PointCloud message read from disk |
Reimplemented in pcl::PCDReader, and pcl::PLYReader.
int pcl::FileReader::read | ( | const std::string & | file_name, |
pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
Read a point cloud data from any FILE file, and convert it to the given template format.
file_name | the name of the file containing the actual PointCloud data |
cloud | the resultant PointCloud message read from disk |
Reimplemented in pcl::PCDReader, and pcl::PLYReader.
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, | ||
int & | data_idx | ||
) | [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
file_name | the name of the file to load |
cloud | the resultant point cloud dataset (only the header will be filled) |
origin | the sensor acquisition origin (only for > FILE_V7 - null if not present) |
orientation | the sensor acquisition orientation (only for > FILE_V7 - identity if not present) |
file_version | the FILE version of the file (either FILE_V6 or FILE_V7) |
data_type | the type of data (binary data=1, ascii=0, etc) |
data_idx | the offset of cloud data within the file |
Implemented in pcl::PCDReader, and pcl::PLYReader.