pcl::PLYReader Class Reference

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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYReader:

Collaboration diagram for pcl::PLYReader:

List of all members.

Public Types
enum	{ PLY_V0 = 0, PLY_V1 = 1 }
Public Member Functions
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, int &data_type, int &data_idx)
	Read a point cloud data header from a PLY file.
int	read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version)
	Read a point cloud data from a PLY 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 PLY file (PLY_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 PLY 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.

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Detailed Description

Point Cloud Data (PLY) file format reader.

The PLY data format is organized in the following way:

• lines beginning with "comment" are treated as comments
• ply
• format [ascii|binary_little_endian|binary_big_endian] 1.0
• element vertex COUNT
• [ascii/binary] point coordinates

Author:

Nizar Sallem

Definition at line 62 of file ply_io.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

PLY_V0
PLY_V1

Definition at line 65 of file ply_io.h.

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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::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	ply_version
	)		[virtual]

Read a point cloud data from a PLY 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
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[out]	ply_version	the PLY version read from the file

Implements pcl::FileReader.

int pcl::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud
	)		[inline]

Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a sensor_msgs/PointCloud2.

Note:

This function is provided for backwards compatibility only and it can only read PLY_V6 files correctly, as sensor_msgs::PointCloud2 does not contain a sensor origin/orientation. Reading any file > PLY_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.

Definition at line 115 of file ply_io.h.

template<typename PointT >

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

Read a point cloud data from any PLY 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 128 of file ply_io.h.

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

Read a point cloud data header from a PLY file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PLY 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)
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[out]	ply_version	the PLY version read from the file
[out]	data_type	the type of PLY data stored in the file
[out]	data_idx	the data index

Implements pcl::FileReader.

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

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