Point Cloud Data (PCD) file format reader. More...

#include <pcl/io/pcd_io.h>

Inheritance diagram for pcl::PCDReader:

Collaboration diagram for pcl::PCDReader:

Public Types
enum	{ PCD_V6 = 0, PCD_V7 = 1 }
	Various PCD file versions. More...
Public Member Functions
	PCDReader ()
	Empty constructor.
	~PCDReader ()
	Empty destructor.
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, int &data_idx)
	Read a point cloud data header from a PCD file.
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version)
	Read a point cloud data from a PCD 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 PCD (PCD_V6) 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 PCD 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.

Detailed Description

Point Cloud Data (PCD) file format reader.

Author:: Radu Bogdan Rusu

Definition at line 52 of file pcd_io.h.

Member Enumeration Documentation

anonymous enum

Various PCD file versions.

PCD_V6 represents PCD files with version 0.6, which contain the following fields:

lines beginning with # are treated as comments
FIELDS ...
SIZE ...
TYPE ...
COUNT ...
WIDTH ...
HEIGHT ...
POINTS ...
DATA ascii/binary

Everything that follows DATA is intepreted as data points and will be read accordingly.

PCD_V7 represents PCD files with version 0.7 and has an important addon: it adds sensor origin/orientation (aka viewpoint) information to a dataset through the use of a new header field:

VIEWPOINT tx ty tz qw qx qy qz

Enumerator:

PCD_V6
PCD_V7

Definition at line 80 of file pcd_io.h.

Constructor & Destructor Documentation

pcl::PCDReader::PCDReader ( ) [inline]

Empty constructor.

Definition at line 56 of file pcd_io.h.

pcl::PCDReader::~PCDReader ( ) [inline]

Empty destructor.

Definition at line 58 of file pcd_io.h.

Member Function Documentation

template<typename Type >

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, inherited]`

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.

Parameters:

[in]	st	the string containing the value to convert and copy
[out]	cloud	the cloud to copy it to
[in]	point_index	the index of the point
[in]	field_idx	the index of the dimension/field
[in]	fields_count	the current fields count

Definition at line 144 of file file_io.h.

int pcl::PCDReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version
	)		`[virtual]`

Read a point cloud data from a PCD file and store it into a sensor_msgs/PointCloud2.

Parameters:

[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 > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)

Implements pcl::FileReader.

int pcl::PCDReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud
	)

Read a point cloud data from a PCD (PCD_V6) and store it into a sensor_msgs/PointCloud2.

Note:: This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > PCD_V6 will generate a warning.

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk

Reimplemented from pcl::FileReader.

template<typename PointT >

int pcl::PCDReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Read a point cloud data from any PCD file, and convert it to the given template format.

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk

Reimplemented from pcl::FileReader.

Definition at line 137 of file pcd_io.h.

int pcl::PCDReader::readHeader	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version,
		int &	data_type,
		int &	data_idx
	)		`[virtual]`

Read a point cloud data header from a PCD file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PCD file. Useful for fast evaluation of the underlying data structure.

Returns: * < 0 (-1) on error * > 0 on success

Parameters:

[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 > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file

Implements pcl::FileReader.

The documentation for this class was generated from the following file:

/builddir/build/BUILD/PCL-1.4.0-Source/io/include/pcl/io/pcd_io.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation