Point Cloud Library (PCL)
1.3.1
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The pcl_io library contains classes and functions for reading and writing point cloud data and capturing from OpenNI-compatible depth cameras. An introduction to some of these capabilities can be found in the following tutorials.
Classes | |
class | pcl::FileReader |
Point Cloud Data (FILE) file format reader interface. More... | |
class | pcl::FileWriter |
Point Cloud Data (FILE) file format writer. More... | |
class | pcl::PCDReader |
Point Cloud Data (PCD) file format reader. More... | |
class | pcl::PCDWriter |
Point Cloud Data (PCD) file format writer. More... | |
class | pcl::PLYReader |
Point Cloud Data (PLY) file format reader. More... | |
class | pcl::PLYWriter |
Point Cloud Data (PLY) file format writer. More... | |
Functions | |
int | pcl::getFieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name) |
Get the index of a specified field (i.e., dimension/channel) | |
template<typename PointT > | |
int | pcl::getFieldIndex (const pcl::PointCloud< PointT > &cloud, const std::string &field_name, std::vector< sensor_msgs::PointField > &fields) |
Get the index of a specified field (i.e., dimension/channel) | |
template<typename PointT > | |
void | pcl::getFields (const pcl::PointCloud< PointT > &cloud, std::vector< sensor_msgs::PointField > &fields) |
Get the list of available fields (i.e., dimension/channel) | |
template<typename PointT > | |
std::string | pcl::getFieldsList (const pcl::PointCloud< PointT > &cloud) |
Get the list of all fields available in a given cloud. | |
std::string | pcl::getFieldsList (const sensor_msgs::PointCloud2 &cloud) |
Get the available point cloud fields as a space separated string. | |
int | pcl::getFieldSize (const int datatype) |
Obtains the size of a specific field data type in bytes. | |
int | pcl::getFieldType (const int size, char type) |
Obtains the type of the PointField from a specific size and type. | |
char | pcl::getFieldType (const int type) |
Obtains the type of the PointField from a specific PointField as a char. | |
template<typename PointInT , typename PointOutT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out) |
Copy all the fields from a given point cloud into a new point cloud. | |
PCL_EXPORTS bool | pcl::concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1, const sensor_msgs::PointCloud2 &cloud2, sensor_msgs::PointCloud2 &cloud_out) |
Concatenate two sensor_msgs::PointCloud2. | |
PCL_EXPORTS void | pcl::copyPointCloud (const sensor_msgs::PointCloud2 &cloud_in, const std::vector< int > &indices, sensor_msgs::PointCloud2 &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointT > &cloud_in, const std::vector< int > &indices, pcl::PointCloud< PointT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointT > &cloud_in, const std::vector< int, Eigen::aligned_allocator< int > > &indices, pcl::PointCloud< PointT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointInT , typename PointOutT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointInT > &cloud_in, const std::vector< int > &indices, pcl::PointCloud< PointOutT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointInT , typename PointOutT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointInT > &cloud_in, const std::vector< int, Eigen::aligned_allocator< int > > &indices, pcl::PointCloud< PointOutT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointT > &cloud_in, const PointIndices &indices, pcl::PointCloud< PointT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointInT , typename PointOutT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointInT > &cloud_in, const PointIndices &indices, pcl::PointCloud< PointOutT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointT > &cloud_in, const std::vector< pcl::PointIndices > &indices, pcl::PointCloud< PointT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointInT , typename PointOutT > | |
void | pcl::copyPointCloud (const pcl::PointCloud< PointInT > &cloud_in, const std::vector< pcl::PointIndices > &indices, pcl::PointCloud< PointOutT > &cloud_out) |
Extract the indices of a given point cloud as a new point cloud. | |
template<typename PointIn1T , typename PointIn2T , typename PointOutT > | |
void | pcl::concatenateFields (const pcl::PointCloud< PointIn1T > &cloud1_in, const pcl::PointCloud< PointIn2T > &cloud2_in, pcl::PointCloud< PointOutT > &cloud_out) |
Concatenate two datasets representing different fields. | |
PCL_EXPORTS bool | pcl::concatenateFields (const sensor_msgs::PointCloud2 &cloud1_in, const sensor_msgs::PointCloud2 &cloud2_in, sensor_msgs::PointCloud2 &cloud_out) |
Concatenate two datasets representing different fields. | |
PCL_EXPORTS bool | pcl::getPointCloudAsEigen (const sensor_msgs::PointCloud2 &in, Eigen::MatrixXf &out) |
Copy the XYZ dimensions of a sensor_msgs::PointCloud2 into Eigen format. | |
PCL_EXPORTS bool | pcl::getEigenAsPointCloud (Eigen::MatrixXf &in, sensor_msgs::PointCloud2 &out) |
Copy the XYZ dimensions from an Eigen MatrixXf into a sensor_msgs::PointCloud2 message. | |
template<std::size_t N> | |
void | pcl::io::swapByte (char *bytes) |
swap bytes order of a char array of length N | |
PCL_EXPORTS int | pcl::io::saveOBJFile (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5) |
Saves a TextureMesh in ascii OBJ format. | |
int | pcl::io::loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud) |
Load a PCD v.6 file into a templated PointCloud type. | |
int | pcl::io::loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) |
Load any PCD file into a templated PointCloud type. | |
template<typename PointT > | |
int | pcl::io::loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud) |
Load any PCD file into a templated PointCloud type. | |
int | pcl::io::savePCDFile (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_mode=false) |
Save point cloud data to a PCD file containing n-D points. | |
template<typename PointT > | |
int | pcl::io::savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. | |
template<typename PointT > | |
int | pcl::io::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. | |
template<typename PointT > | |
int | pcl::io::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. | |
template<typename PointT > | |
int | pcl::io::savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const bool binary_mode=false) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. | |
int | pcl::io::loadPLYFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud) |
Load a PLY v.6 file into a templated PointCloud type. | |
int | pcl::io::loadPLYFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) |
Load any PLY file into a templated PointCloud type. | |
template<typename PointT > | |
int | pcl::io::loadPLYFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud) |
Load any PLY file into a templated PointCloud type. | |
int | pcl::io::savePLYFile (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_mode=false) |
Save point cloud data to a PLY file containing n-D points. | |
template<typename PointT > | |
int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. | |
template<typename PointT > | |
int | pcl::io::savePLYFileASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. | |
template<typename PointT > | |
int | pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. | |
template<typename PointT > | |
int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, bool binary_mode=false) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. | |
PCL_EXPORTS int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5) |
Saves a PolygonMesh in ascii PLY format. | |
PCL_EXPORTS int | pcl::io::saveVTKFile (const std::string &file_name, const pcl::PolygonMesh &triangles, unsigned precision=5) |
Saves a PolygonMesh in ascii VTK format. | |
PCL_EXPORTS int | pcl::io::vtk2mesh (const vtkSmartPointer< vtkPolyData > &poly_data, pcl::PolygonMesh &mesh) |
Saves a PolygonMesh in ascii VTK format. |
void pcl::concatenateFields | ( | const pcl::PointCloud< PointIn1T > & | cloud1_in, |
const pcl::PointCloud< PointIn2T > & | cloud2_in, | ||
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
Concatenate two datasets representing different fields.
[in] | cloud1_in | the first input dataset |
[in] | cloud2_in | the second input dataset (overwrites the fields of the first dataset for those that are shared) |
[out] | cloud_out | the resultant output dataset created by the concatenation of all the fields in the input datasets |
PCL_EXPORTS bool pcl::concatenateFields | ( | const sensor_msgs::PointCloud2 & | cloud1_in, |
const sensor_msgs::PointCloud2 & | cloud2_in, | ||
sensor_msgs::PointCloud2 & | cloud_out | ||
) |
Concatenate two datasets representing different fields.
[in] | cloud1_in | the first input dataset |
[in] | cloud2_in | the second input dataset (overwrites the fields of the first dataset for those that are shared) |
[out] | cloud_out | the output dataset created by concatenating all the fields in the input datasets |
PCL_EXPORTS bool pcl::concatenatePointCloud | ( | const sensor_msgs::PointCloud2 & | cloud1, |
const sensor_msgs::PointCloud2 & | cloud2, | ||
sensor_msgs::PointCloud2 & | cloud_out | ||
) |
Concatenate two sensor_msgs::PointCloud2.
[in] | cloud1 | the first input point cloud dataset |
[in] | cloud2 | the second input point cloud dataset |
[out] | cloud_out | the resultant output point cloud dataset |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointInT > & | cloud_in, |
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
PCL_EXPORTS void pcl::copyPointCloud | ( | const sensor_msgs::PointCloud2 & | cloud_in, |
const std::vector< int > & | indices, | ||
sensor_msgs::PointCloud2 & | cloud_out | ||
) |
Extract the indices of a given point cloud as a new point cloud.
[in] | cloud_in | the input point cloud dataset |
[in] | indices | the vector of indices representing the points to be copied from cloud_in |
[out] | cloud_out | the resultant output point cloud dataset |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointT > & | cloud_in, |
const std::vector< int > & | indices, | ||
pcl::PointCloud< PointT > & | cloud_out | ||
) |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointT > & | cloud_in, |
const std::vector< int, Eigen::aligned_allocator< int > > & | indices, | ||
pcl::PointCloud< PointT > & | cloud_out | ||
) |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointInT > & | cloud_in, |
const std::vector< int > & | indices, | ||
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointInT > & | cloud_in, |
const std::vector< int, Eigen::aligned_allocator< int > > & | indices, | ||
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointT > & | cloud_in, |
const PointIndices & | indices, | ||
pcl::PointCloud< PointT > & | cloud_out | ||
) |
Extract the indices of a given point cloud as a new point cloud.
[in] | cloud_in | the input point cloud dataset |
[in] | indices | the PointIndices structure representing the points to be copied from cloud_in |
[out] | cloud_out | the resultant output point cloud dataset |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointInT > & | cloud_in, |
const PointIndices & | indices, | ||
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
Extract the indices of a given point cloud as a new point cloud.
[in] | cloud_in | the input point cloud dataset |
[in] | indices | the PointIndices structure representing the points to be copied from cloud_in |
[out] | cloud_out | the resultant output point cloud dataset |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointT > & | cloud_in, |
const std::vector< pcl::PointIndices > & | indices, | ||
pcl::PointCloud< PointT > & | cloud_out | ||
) |
void pcl::copyPointCloud | ( | const pcl::PointCloud< PointInT > & | cloud_in, |
const std::vector< pcl::PointIndices > & | indices, | ||
pcl::PointCloud< PointOutT > & | cloud_out | ||
) |
PCL_EXPORTS bool pcl::getEigenAsPointCloud | ( | Eigen::MatrixXf & | in, |
sensor_msgs::PointCloud2 & | out | ||
) |
Copy the XYZ dimensions from an Eigen MatrixXf into a sensor_msgs::PointCloud2 message.
[in] | in | the Eigen MatrixXf format containing XYZ0 / point |
[out] | out | the resultant point cloud message |
int pcl::getFieldIndex | ( | const sensor_msgs::PointCloud2 & | cloud, |
const std::string & | field_name | ||
) | [inline] |
int pcl::getFieldIndex | ( | const pcl::PointCloud< PointT > & | cloud, |
const std::string & | field_name, | ||
std::vector< sensor_msgs::PointField > & | fields | ||
) | [inline] |
Get the index of a specified field (i.e., dimension/channel)
[in] | cloud | the the point cloud message |
[in] | field_name | the string defining the field name |
[out] | fields | a vector to the original PointField vector that the raw PointCloud message contains |
void pcl::getFields | ( | const pcl::PointCloud< PointT > & | cloud, |
std::vector< sensor_msgs::PointField > & | fields | ||
) | [inline] |
Get the list of available fields (i.e., dimension/channel)
[in] | cloud | the point cloud message |
[out] | fields | a vector to the original PointField vector that the raw PointCloud message contains |
int pcl::getFieldSize | ( | const int | datatype | ) | [inline] |
Obtains the size of a specific field data type in bytes.
int] | datatype the field data type (see PointField.h) |
std::string pcl::getFieldsList | ( | const pcl::PointCloud< PointT > & | cloud | ) | [inline] |
std::string pcl::getFieldsList | ( | const sensor_msgs::PointCloud2 & | cloud | ) | [inline] |
Get the available point cloud fields as a space separated string.
[in] | cloud | a pointer to the PointCloud message |
int pcl::getFieldType | ( | const int | size, |
char | type | ||
) | [inline] |
char pcl::getFieldType | ( | const int | type | ) | [inline] |
PCL_EXPORTS bool pcl::getPointCloudAsEigen | ( | const sensor_msgs::PointCloud2 & | in, |
Eigen::MatrixXf & | out | ||
) |
Copy the XYZ dimensions of a sensor_msgs::PointCloud2 into Eigen format.
[in] | in | the point cloud message |
[out] | out | the resultant Eigen MatrixXf format containing XYZ0 / point |
int pcl::io::loadPCDFile | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud | ||
) | [inline] |
Load a PCD v.6 file into a templated PointCloud type.
Any PCD files > v.6 will generate a warning as a sensor_msgs/PointCloud2 message cannot hold the sensor origin.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
int pcl::io::loadPCDFile | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud, | ||
Eigen::Vector4f & | origin, | ||
Eigen::Quaternionf & | orientation | ||
) | [inline] |
Load any PCD file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
[out] | origin | the sensor acquisition origin (only for > PCD_V7 - null if not present) |
[out] | orientation | the sensor acquisition orientation (only for > PCD_V7 - identity if not present) |
int pcl::io::loadPCDFile | ( | const std::string & | file_name, |
pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
Load any PCD file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
int pcl::io::loadPLYFile | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud | ||
) | [inline] |
Load a PLY v.6 file into a templated PointCloud type.
Any PLY files containg sensor data will generate a warning as a sensor_msgs/PointCloud2 message cannot hold the sensor origin.
file_name | the name of the file to load |
cloud | the resultant templated point cloud |
int pcl::io::loadPLYFile | ( | const std::string & | file_name, |
sensor_msgs::PointCloud2 & | cloud, | ||
Eigen::Vector4f & | origin, | ||
Eigen::Quaternionf & | orientation | ||
) | [inline] |
Load any PLY file into a templated PointCloud type.
file_name | the name of the file to load |
cloud | the resultant templated point cloud |
origin | the sensor acquisition origin (only for > PLY_V7 - null if not present) |
orientation | the sensor acquisition orientation if availble, identity if not present |
int pcl::io::loadPLYFile | ( | const std::string & | file_name, |
pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
Load any PLY file into a templated PointCloud type.
file_name | the name of the file to load |
cloud | the resultant templated point cloud |
PCL_EXPORTS int pcl::io::saveOBJFile | ( | const std::string & | file_name, |
const pcl::TextureMesh & | tex_mesh, | ||
unsigned | precision = 5 |
||
) |
Saves a TextureMesh in ascii OBJ format.
[in] | file_name | the name of the file to write to disk |
[in] | tex_mesh | the texture mesh to save |
[in] | precision | the output ASCII precision |
int pcl::io::savePCDFile | ( | 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_mode = false |
||
) | [inline] |
Save point cloud data to a PCD file containing n-D points.
[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_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
int pcl::io::savePCDFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
bool | binary_mode = false |
||
) | [inline] |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
int pcl::io::savePCDFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
const std::vector< int > & | indices, | ||
const bool | binary_mode = false |
||
) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | indices | the set of indices to save |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
int pcl::io::savePCDFileASCII | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
This version is to retain backwards compatibility.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
int pcl::io::savePCDFileBinary | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
int pcl::io::savePLYFile | ( | 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_mode = false |
||
) | [inline] |
int pcl::io::savePLYFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
bool | binary_mode = false |
||
) | [inline] |
int pcl::io::savePLYFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
const std::vector< int > & | indices, | ||
bool | binary_mode = false |
||
) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
file_name | the output file name |
cloud | the point cloud data message |
indices | the set of indices to save |
binary_mode | true for binary mode, false (default) for ASCII |
PCL_EXPORTS int pcl::io::savePLYFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh, | ||
unsigned | precision = 5 |
||
) |
Saves a PolygonMesh in ascii PLY format.
file_name | the name of the file to write to disk |
triangles | the polygonal mesh to save |
precision | the output ASCII precision default 5 |
int pcl::io::savePLYFileASCII | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
int pcl::io::savePLYFileBinary | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud | ||
) | [inline] |
PCL_EXPORTS int pcl::io::saveVTKFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | triangles, | ||
unsigned | precision = 5 |
||
) |
Saves a PolygonMesh in ascii VTK format.
file_name | the name of the file to write to disk |
triangles | the polygonal mesh to save |
precision | the output ASCII precision |
void pcl::io::swapByte | ( | char * | bytes | ) |
swap bytes order of a char array of length N
bytes | char array to swap |
PCL_EXPORTS int pcl::io::vtk2mesh | ( | const vtkSmartPointer< vtkPolyData > & | poly_data, |
pcl::PolygonMesh & | mesh | ||
) |
Saves a PolygonMesh in ascii VTK format.
(For compability with (old/pcl_native) vtk_io.h!)
file_name | the name of the file to write to disk |
triangles | the polygonal mesh to save |
precision | the output ASCII precision CONVERSION FUNCTIONS ////////////////////////////////////////////////// Convert vtkPolyData object to a PCL PolygonMesh |
poly_data | Pointer (vtkSmartPointer) to a vtkPolyData object |
mesh | PCL Polygon Mesh to fill |