Detailed Description

Overview

The pcl_io library contains classes and functions for reading and writing point cloud data (PCD) files, as well as capturing point clouds from a variety of sensing devices. An introduction to some of these capabilities can be found in the following tutorials:

PCL is agnostic with respect to the data sources that are used to generate 3D point clouds. While OpenNI-compatible cameras have recently been at the center of attention in the 3D/robotics sensing community, many of the devices enumerated below have been used with PCL tools in the past:

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...
Files
file	byte_order.h
	defines byte shift operations and endianess.
file	io_operators.h
	defines output operators for int8 and uint8
file	ply.h
	contains standard typedefs and generic type traits
Functions
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.
PCL_EXPORTS int	pcl::io::saveVTKFile (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, unsigned precision=5)
	Saves a PointCloud in ascii VTK format.
PCL_EXPORTS int	pcl::io::loadPolygonFile (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS int	pcl::io::savePolygonFile (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS int	pcl::io::loadPolygonFileVTK (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a VTK file into a PolygonMesh object.
PCL_EXPORTS int	pcl::io::loadPolygonFilePLY (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PLY file into a PolygonMesh object.
PCL_EXPORTS int	pcl::io::loadPolygonFileOBJ (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an OBJ file into a PolygonMesh object.
PCL_EXPORTS int	pcl::io::loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an STL file into a PolygonMesh object.
PCL_EXPORTS int	pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into a VTK file.
PCL_EXPORTS int	pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into a PLY file.
PCL_EXPORTS int	pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Save a PolygonMesh object into an STL file.
PCL_EXPORTS void	pcl::io::saveRangeImagePlanarFilePNG (const std::string &file_name, const pcl::RangeImagePlanar &range_image)
	Write a RangeImagePlanar object to a PNG file.
template<typename PointT >
void	pcl::io::pointCloudTovtkPolyData (const pcl::PointCloud< PointT > &cloud, vtkPolyData *const polydata)
	Convert a pcl::PointCloud object to a VTK PolyData one.
template<typename PointT >
void	pcl::io::pointCloudTovtkStructuredGrid (const pcl::PointCloud< PointT > &cloud, vtkStructuredGrid *const structured_grid)
	Convert a pcl::PointCloud object to a VTK StructuredGrid one.
template<typename PointT >
void	pcl::io::vtkPolyDataToPointCloud (vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
	Convert a VTK PolyData object to a pcl::PointCloud one.
template<typename PointT >
void	pcl::io::vtkStructuredGridToPointCloud (vtkStructuredGrid *const structured_grid, pcl::PointCloud< PointT > &cloud)
	Convert a VTK StructuredGrid object to a pcl::PointCloud one.

Function Documentation

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 606 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 621 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 635 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 658 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 673 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 687 of file ply_io.h.

PCL_EXPORTS int pcl::io::loadPolygonFile	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a PolygonMesh object given an input file name, based on the file extension.

Parameters:

[in]	file_name	the name of the file containing the polygon data
[out]	mesh	the object that we want to load the data in

PCL_EXPORTS int pcl::io::loadPolygonFileOBJ	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load an OBJ file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

PCL_EXPORTS int pcl::io::loadPolygonFilePLY	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a PLY file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

PCL_EXPORTS int pcl::io::loadPolygonFileSTL	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load an STL file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

PCL_EXPORTS int pcl::io::loadPolygonFileVTK	(	const std::string &	file_name,
		pcl::PolygonMesh &	mesh
	)

Load a VTK file into a PolygonMesh object.

Parameters:

[in]	file_name	the name of the file that contains the data
[out]	mesh	the object that we want to load the data in

template<typename PointT >

void pcl::io::pointCloudTovtkPolyData	(	const pcl::PointCloud< PointT > &	cloud,
		vtkPolyData *const	polydata
	)

Convert a pcl::PointCloud object to a VTK PolyData one.

Parameters:

[in]	cloud	the input pcl::PointCloud object
[out]	polydata	the resultant VTK PolyData object

Definition at line 277 of file vtk_lib_io.hpp.

template<typename PointT >

void pcl::io::pointCloudTovtkStructuredGrid	(	const pcl::PointCloud< PointT > &	cloud,
		vtkStructuredGrid *const	structured_grid
	)

Convert a pcl::PointCloud object to a VTK StructuredGrid one.

Parameters:

[in]	cloud	the input pcl::PointCloud object
[out]	structured_grid	the resultant VTK StructuredGrid object

Definition at line 364 of file vtk_lib_io.hpp.

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 657 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 681 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 744 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 704 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 720 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 702 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 719 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 758 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 732 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 744 of file ply_io.h.

PCL_EXPORTS int pcl::io::savePolygonFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object given an input file name, based on the file extension.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

PCL_EXPORTS int pcl::io::savePolygonFilePLY	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into a PLY file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

PCL_EXPORTS int pcl::io::savePolygonFileSTL	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into an STL file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

PCL_EXPORTS int pcl::io::savePolygonFileVTK	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh
	)

Save a PolygonMesh object into a VTK file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	mesh	the object that contains the data

PCL_EXPORTS void pcl::io::saveRangeImagePlanarFilePNG	(	const std::string &	file_name,
		const pcl::RangeImagePlanar &	range_image
	)

Write a RangeImagePlanar object to a PNG file.

Parameters:

[in]	file_name	the name of the file to save the data to
[in]	range_image	the object that contains the data

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

PCL_EXPORTS int pcl::io::saveVTKFile	(	const std::string &	file_name,
		const sensor_msgs::PointCloud2 &	cloud,
		unsigned	precision = `5`
	)

Saves a PointCloud in ascii VTK format.

Parameters:

[in]	file_name	the name of the file to write to disk
[in]	cloud	the point cloud to save
[in]	precision	the output ASCII precision

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.

template<typename PointT >

void pcl::io::vtkPolyDataToPointCloud	(	vtkPolyData *const	polydata,
		pcl::PointCloud< PointT > &	cloud
	)

Convert a VTK PolyData object to a pcl::PointCloud one.

Parameters:

[in]	polydata	the input VTK PolyData object
[out]	cloud	the resultant pcl::PointCloud object

Definition at line 63 of file vtk_lib_io.hpp.

template<typename PointT >

void pcl::io::vtkStructuredGridToPointCloud	(	vtkStructuredGrid *const	structured_grid,
		pcl::PointCloud< PointT > &	cloud
	)

Convert a VTK StructuredGrid object to a pcl::PointCloud one.

Parameters:

[in]	structured_grid	the input VTK StructuredGrid object
[out]	cloud	the resultant pcl::PointCloud object

Definition at line 152 of file vtk_lib_io.hpp.

Detailed Description

Overview

Requirements

Classes

Files

Functions

Function Documentation