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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: pcd_io.h 6122 2012-07-03 18:59:43Z aichim $ 00037 * 00038 */ 00039 00040 #ifndef PCL_IO_PCD_IO_H_ 00041 #define PCL_IO_PCD_IO_H_ 00042 00043 #include <pcl/point_cloud.h> 00044 #include <pcl/io/file_io.h> 00045 00046 namespace pcl 00047 { 00052 class PCL_EXPORTS PCDReader : public FileReader 00053 { 00054 public: 00056 PCDReader () : FileReader () {} 00058 ~PCDReader () {} 00080 enum 00081 { 00082 PCD_V6 = 0, 00083 PCD_V7 = 1 00084 }; 00085 00113 int 00114 readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, 00115 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, 00116 int &data_type, unsigned int &data_idx, const int offset = 0); 00117 00118 00141 int 00142 readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset = 0); 00143 00170 int 00171 readHeaderEigen (const std::string &file_name, pcl::PointCloud<Eigen::MatrixXf> &cloud, 00172 int &pcd_version, int &data_type, unsigned int &data_idx, const int offset = 0); 00173 00191 int 00192 read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, 00193 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset = 0); 00194 00215 int 00216 read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset = 0); 00217 00232 template<typename PointT> int 00233 read (const std::string &file_name, pcl::PointCloud<PointT> &cloud, const int offset = 0) 00234 { 00235 sensor_msgs::PointCloud2 blob; 00236 int pcd_version; 00237 int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_, 00238 pcd_version, offset); 00239 00240 // If no error, convert the data 00241 if (res == 0) 00242 pcl::fromROSMsg (blob, cloud); 00243 return (res); 00244 } 00245 00263 int 00264 readEigen (const std::string &file_name, pcl::PointCloud<Eigen::MatrixXf> &cloud, const int offset = 0); 00265 }; 00266 00271 class PCL_EXPORTS PCDWriter : public FileWriter 00272 { 00273 public: 00274 PCDWriter() : FileWriter(), map_synchronization_(false) {} 00275 ~PCDWriter() {} 00276 00285 void 00286 setMapSynchronization (bool sync) 00287 { 00288 map_synchronization_ = sync; 00289 } 00290 00296 std::string 00297 generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, 00298 const Eigen::Vector4f &origin, 00299 const Eigen::Quaternionf &orientation); 00300 00306 std::string 00307 generateHeaderBinaryCompressed (const sensor_msgs::PointCloud2 &cloud, 00308 const Eigen::Vector4f &origin, 00309 const Eigen::Quaternionf &orientation); 00310 00316 std::string 00317 generateHeaderASCII (const sensor_msgs::PointCloud2 &cloud, 00318 const Eigen::Vector4f &origin, 00319 const Eigen::Quaternionf &orientation); 00320 00326 template <typename PointT> static std::string 00327 generateHeader (const pcl::PointCloud<PointT> &cloud, 00328 const int nr_points = std::numeric_limits<int>::max ()); 00329 00339 std::string 00340 generateHeaderEigen (const pcl::PointCloud<Eigen::MatrixXf> &cloud, 00341 const int nr_points = std::numeric_limits<int>::max ()); 00342 00359 int 00360 writeASCII (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 00361 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00362 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), 00363 const int precision = 8); 00364 00371 int 00372 writeBinary (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 00373 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00374 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ()); 00375 00382 int 00383 writeBinaryCompressed (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 00384 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00385 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ()); 00386 00404 inline int 00405 write (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 00406 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00407 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), 00408 const bool binary = false) 00409 { 00410 if (binary) 00411 return (writeBinary (file_name, cloud, origin, orientation)); 00412 else 00413 return (writeASCII (file_name, cloud, origin, orientation, 8)); 00414 } 00415 00431 inline int 00432 write (const std::string &file_name, const sensor_msgs::PointCloud2::ConstPtr &cloud, 00433 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00434 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), 00435 const bool binary = false) 00436 { 00437 return (write (file_name, *cloud, origin, orientation, binary)); 00438 } 00439 00444 template <typename PointT> int 00445 writeBinary (const std::string &file_name, 00446 const pcl::PointCloud<PointT> &cloud); 00447 00456 int 00457 writeBinaryEigen (const std::string &file_name, 00458 const pcl::PointCloud<Eigen::MatrixXf> &cloud); 00459 00464 template <typename PointT> int 00465 writeBinaryCompressed (const std::string &file_name, 00466 const pcl::PointCloud<PointT> &cloud); 00467 00476 int 00477 writeBinaryCompressedEigen (const std::string &file_name, 00478 const pcl::PointCloud<Eigen::MatrixXf> &cloud); 00479 00485 template <typename PointT> int 00486 writeBinary (const std::string &file_name, 00487 const pcl::PointCloud<PointT> &cloud, 00488 const std::vector<int> &indices); 00489 00495 template <typename PointT> int 00496 writeASCII (const std::string &file_name, 00497 const pcl::PointCloud<PointT> &cloud, 00498 const int precision = 8); 00499 00509 int 00510 writeASCIIEigen (const std::string &file_name, 00511 const pcl::PointCloud<Eigen::MatrixXf> &cloud, 00512 const int precision = 8); 00513 00520 template <typename PointT> int 00521 writeASCII (const std::string &file_name, 00522 const pcl::PointCloud<PointT> &cloud, 00523 const std::vector<int> &indices, 00524 const int precision = 8); 00525 00539 template<typename PointT> inline int 00540 write (const std::string &file_name, 00541 const pcl::PointCloud<PointT> &cloud, 00542 const bool binary = false) 00543 { 00544 if (binary) 00545 return (writeBinary<PointT> (file_name, cloud)); 00546 else 00547 return (writeASCII<PointT> (file_name, cloud)); 00548 } 00549 00564 template<typename PointT> inline int 00565 write (const std::string &file_name, 00566 const pcl::PointCloud<PointT> &cloud, 00567 const std::vector<int> &indices, 00568 bool binary = false) 00569 { 00570 if (binary) 00571 return (writeBinary<PointT> (file_name, cloud, indices)); 00572 else 00573 return (writeASCII<PointT> (file_name, cloud, indices)); 00574 } 00575 00576 private: 00578 bool map_synchronization_; 00579 00580 typedef std::pair<std::string, pcl::ChannelProperties> pair_channel_properties; 00584 struct ChannelPropertiesComparator 00585 { 00586 bool 00587 operator()(const pair_channel_properties &lhs, const pair_channel_properties &rhs) 00588 { 00589 return (lhs.second.offset < rhs.second.offset); 00590 } 00591 }; 00592 }; 00593 00594 namespace io 00595 { 00605 inline int 00606 loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud) 00607 { 00608 pcl::PCDReader p; 00609 return (p.read (file_name, cloud)); 00610 } 00611 00620 inline int 00621 loadPCDFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, 00622 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) 00623 { 00624 pcl::PCDReader p; 00625 int pcd_version; 00626 return (p.read (file_name, cloud, origin, orientation, pcd_version)); 00627 } 00628 00634 template<typename PointT> inline int 00635 loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud) 00636 { 00637 pcl::PCDReader p; 00638 return (p.read (file_name, cloud)); 00639 } 00640 00656 inline int 00657 savePCDFile (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 00658 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 00659 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (), 00660 const bool binary_mode = false) 00661 { 00662 PCDWriter w; 00663 return (w.write (file_name, cloud, origin, orientation, binary_mode)); 00664 } 00665 00680 template<typename PointT> inline int 00681 savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false) 00682 { 00683 PCDWriter w; 00684 return (w.write<PointT> (file_name, cloud, binary_mode)); 00685 } 00686 00703 template<typename PointT> inline int 00704 savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud) 00705 { 00706 PCDWriter w; 00707 return (w.write<PointT> (file_name, cloud, false)); 00708 } 00709 00719 template<typename PointT> inline int 00720 savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud) 00721 { 00722 PCDWriter w; 00723 return (w.write<PointT> (file_name, cloud, true)); 00724 } 00725 00743 template<typename PointT> int 00744 savePCDFile (const std::string &file_name, 00745 const pcl::PointCloud<PointT> &cloud, 00746 const std::vector<int> &indices, 00747 const bool binary_mode = false) 00748 { 00749 // Save the data 00750 PCDWriter w; 00751 return (w.write<PointT> (file_name, cloud, indices, binary_mode)); 00752 } 00753 } 00754 } 00755 00756 #include <pcl/io/impl/pcd_io.hpp> 00757 00758 #endif //#ifndef PCL_IO_PCD_IO_H_
1.7.6.1
