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
	PLYReader ()
	PLYReader (const PLYReader &p)
PLYReader &	operator= (const PLYReader &p)
	~PLYReader ()
int	readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, int &data_type, unsigned int &data_idx, const int offset=0)
	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, const int offset=0)
	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, const int offset=0)
	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, const int offset=0)
	Read a point cloud data from any PLY file, and convert it to the given template format.

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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
• property float x
• property float y
• [property float z]
• [property float normal_x]
• [property float normal_y]
• [property float normal_z]
• [property uchar red]
• [property uchar green]
• [property uchar blue] ...
• ascii/binary point coordinates
• [element camera 1]
• [property float view_px] ...
• [element range_grid COUNT]
• [property list uchar int vertex_indices]
• end header

Author:

Nizar Sallem

Definition at line 77 of file ply_io.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

PLY_V0
PLY_V1

Definition at line 80 of file ply_io.h.

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Constructor & Destructor Documentation

pcl::PLYReader::PLYReader

(

)

[inline]

Definition at line 86 of file ply_io.h.

pcl::PLYReader::PLYReader

(

const PLYReader &

p

)

[inline]

Definition at line 101 of file ply_io.h.

pcl::PLYReader::~PLYReader

(

)

[inline]

Definition at line 126 of file ply_io.h.

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Member Function Documentation

PLYReader& pcl::PLYReader::operator=

(

const PLYReader &

p

)

[inline]

Definition at line 118 of file ply_io.h.

int pcl::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	ply_version,
		const int	offset = 0
	)		[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
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

int pcl::PLYReader::read	(	const std::string &	file_name,
		sensor_msgs::PointCloud2 &	cloud,
		const int	offset = 0
	)		[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
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Reimplemented from pcl::FileReader.

Definition at line 186 of file ply_io.h.

template<typename PointT >

int pcl::PLYReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud,
		const int	offset = 0
	)		[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
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Reimplemented from pcl::FileReader.

Definition at line 204 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,
		unsigned int &	data_idx,
		const int	offset = 0
	)		[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
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

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

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/io/include/pcl/io/ply_io.h