Module io

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Detailed Description

Overview

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.

• The PCD (Point Cloud Data) file format
• Reading PointCloud data from PCD files
• Writing PointCloud data to PCD files
• The OpenNI Grabber Framework in PCL

Requirements

• common
• octree
• OpenNi for kinect handling

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::Grabber
	Grabber interface for PCL 1.x device drivers. More...
class	pcl::PCDGrabberBase
	Base class for PCD file grabber. 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::PCLIOException
	Base exception class for I/O operations. 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.
PCL_EXPORTS int	pcl::io::saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh in ascii PLY 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.
void	pcl::throwPCLIOException (const char *function_name, const char *file_name, unsigned line_number, const char *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, bool use_camera=true)
	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.

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Function Documentation

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.

Note:

If the input datasets have overlapping fields (i.e., both contain the same fields), then the data in the second cloud (cloud2_in) will overwrite the data in the first (cloud1_in).

Parameters:

[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

Definition at line 341 of file io.hpp.

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.

Note:

If the input datasets have overlapping fields (i.e., both contain the same fields), then the data in the second cloud (cloud2_in) will overwrite the data in the first (cloud1_in).

Parameters:

[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.

Parameters:

[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

Returns:

true if successful, false if failed (e.g., name/number of fields differs)

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.

Parameters:

[in]	cloud_in	the input point cloud dataset
[out]	cloud_out	the resultant output point cloud dataset

Definition at line 85 of file io.hpp.

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.

Parameters:

[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

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.

Parameters:

[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

Definition at line 107 of file io.hpp.

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.

Parameters:

[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

Definition at line 132 of file io.hpp.

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.

Parameters:

[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

Definition at line 158 of file io.hpp.

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.

Parameters:

[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

Definition at line 185 of file io.hpp.

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.

Parameters:

[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

Definition at line 213 of file io.hpp.

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.

Parameters:

[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

Definition at line 238 of file io.hpp.

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.

Parameters:

[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

Definition at line 265 of file io.hpp.

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.

Parameters:

[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

Definition at line 302 of file io.hpp.

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.

Parameters:

[in]	in	the Eigen MatrixXf format containing XYZ0 / point
[out]	out	the resultant point cloud message

Note:

the method assumes that the PointCloud2 message already has the fields set up properly !

int pcl::getFieldIndex	(	const sensor_msgs::PointCloud2 &	cloud,
		const std::string &	field_name
	)		[inline]

Get the index of a specified field (i.e., dimension/channel)

Parameters:

[in]	cloud	the the point cloud message
[in]	field_name	the string defining the field name

Definition at line 58 of file io.h.

template<typename PointT >

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)

Parameters:

[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

Definition at line 47 of file io.hpp.

template<typename PointT >

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)

Parameters:

[in]	cloud	the point cloud message
[out]	fields	a vector to the original PointField vector that the raw PointCloud message contains

Definition at line 62 of file io.hpp.

int pcl::getFieldSize

(

const int

datatype

)

[inline]

Obtains the size of a specific field data type in bytes.

Parameters:

[in]

datatype

the field data type (see PointField.h)

Definition at line 111 of file io.h.

template<typename PointT >

std::string pcl::getFieldsList

(

const pcl::PointCloud< PointT > &

cloud

)

[inline]

Get the list of all fields available in a given cloud.

Parameters:

[in]

cloud

the the point cloud message

Definition at line 71 of file io.hpp.

std::string pcl::getFieldsList

(

const sensor_msgs::PointCloud2 &

cloud

)

[inline]

Get the available point cloud fields as a space separated string.

Parameters:

[in]

cloud

a pointer to the PointCloud message

Definition at line 97 of file io.h.

int pcl::getFieldType	(	const int	size,
		char	type
	)		[inline]

Obtains the type of the PointField from a specific size and type.

Parameters:

[in]	size	the size in bytes of the data field
[in]	type	a char describing the type of the field ('F' = float, 'I' = signed, 'U' = unsigned)

Definition at line 150 of file io.h.

char pcl::getFieldType

(

const int

type

)

[inline]

Obtains the type of the PointField from a specific PointField as a char.

Parameters:

[in]

type

the PointField field type

Definition at line 188 of file io.h.

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.

Parameters:

[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.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Definition at line 447 of file pcd_io.h.

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.

Parameters:

[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)

Definition at line 462 of file pcd_io.h.

template<typename PointT >

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

Load any PCD file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Definition at line 476 of file pcd_io.h.

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.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud

Definition at line 362 of file ply_io.h.

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.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud
[in]	origin	the sensor acquisition origin (only for > PLY_V7 - null if not present)
[in]	orientation	the sensor acquisition orientation if availble, identity if not present

Definition at line 377 of file ply_io.h.

template<typename PointT >

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

Load any PLY file into a templated PointCloud type.

Parameters:

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud

Definition at line 391 of file ply_io.h.

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.

Parameters:

[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

PCL_EXPORTS int pcl::io::saveOBJFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = 5
	)

Saves a PolygonMesh in ascii PLY format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save
[in]	precision	the output ASCII precision default 5

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.

Parameters:

[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.

Definition at line 498 of file pcd_io.h.

template<typename PointT >

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.

Parameters:

[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.

Definition at line 522 of file pcd_io.h.

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.

Parameters:

[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.

Definition at line 585 of file pcd_io.h.

template<typename PointT >

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.

Parameters:

[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.

Definition at line 545 of file pcd_io.h.

template<typename PointT >

int pcl::io::savePCDFileBinary	(	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.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 561 of file pcd_io.h.

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,
		bool	use_camera = true
	)		[inline]

Save point cloud data to a PLY file containing n-D points.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	binary_mode	true for binary mode, false (default) for ASCII

Definition at line 406 of file ply_io.h.

template<typename PointT >

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary_mode = false
	)		[inline]

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[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

Definition at line 423 of file ply_io.h.

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.

Parameters:

[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

Definition at line 462 of file ply_io.h.

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.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save
[in]	precision	the output ASCII precision default 5

template<typename PointT >

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

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 436 of file ply_io.h.

template<typename PointT >

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

Templated version for saving point cloud data to a PLY file containing a specific given cloud format.

Parameters:

[in]	file_name	the output file name
[in]	cloud	the point cloud data message

Definition at line 448 of file ply_io.h.

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.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	triangles	the polygonal mesh to save
[in]	precision	the output ASCII precision

template<std::size_t N>

void pcl::io::swapByte

(

char *

bytes

)

swap bytes order of a char array of length N

Parameters:

bytes

char array to swap

void pcl::throwPCLIOException	(	const char *	function_name,
		const char *	file_name,
		unsigned	line_number,
		const char *	format,
			...
	)		[inline]

Parameters:

[in]	function_name	the name of the method where the exception was caused
[in]	file_name	the name of the file where the exception was caused
[in]	line_number	the number of the line where the exception was caused
[in]	format	printf format

Definition at line 81 of file pcl_io_exception.h.