Point Cloud Library (PCL)  1.7.1
Namespaces | Classes | Enumerations | Functions | Variables
pcl::io Namespace Reference

Namespaces

 ply
 

Classes

struct  configurationProfile_t
 
class  OctreePointCloudCompression
 Octree pointcloud compression class More...
 
class  OrganizedPointCloudCompression
 
struct  CompressionPointTraits
 
struct  CompressionPointTraits< PointXYZRGB >
 
struct  CompressionPointTraits< PointXYZRGBA >
 
struct  OrganizedConversion
 
struct  OrganizedConversion< PointT, false >
 
struct  OrganizedConversion< PointT, true >
 
class  DeBayer
 Various debayering methods. More...
 
struct  CameraParameters
 Basic camera parameters placeholder. More...
 
class  LZFImageReader
 PCL-LZF image format reader. More...
 
class  LZFDepth16ImageReader
 PCL-LZF 16-bit depth image format reader. More...
 
class  LZFRGB24ImageReader
 PCL-LZF 24-bit RGB image format reader. More...
 
class  LZFYUV422ImageReader
 PCL-LZF 8-bit Bayer image format reader. More...
 
class  LZFBayer8ImageReader
 PCL-LZF 8-bit Bayer image format reader. More...
 
class  LZFImageWriter
 PCL-LZF image format writer. More...
 
class  LZFDepth16ImageWriter
 PCL-LZF 16-bit depth image format writer. More...
 
class  LZFRGB24ImageWriter
 PCL-LZF 24-bit RGB image format writer. More...
 
class  LZFYUV422ImageWriter
 PCL-LZF 16-bit YUV422 image format writer. More...
 
class  LZFBayer8ImageWriter
 PCL-LZF 8-bit Bayer image format writer. More...
 
struct  TARHeader
 A TAR file's header, as described on http://en.wikipedia.org/wiki/Tar_%28file_format%29. More...
 

Enumerations

enum  compression_Profiles_e {
  LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, LOW_RES_ONLINE_COMPRESSION_WITH_COLOR, MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_ONLINE_COMPRESSION_WITH_COLOR,
  HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR, LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR,
  MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, MED_RES_OFFLINE_COMPRESSION_WITH_COLOR, HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR, HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR,
  COMPRESSION_PROFILE_COUNT, MANUAL_CONFIGURATION
}
 

Functions

template<std::size_t N>
void swapByte (char *bytes)
 swap bytes order of a char array of length N More...
 
template<>
void swapByte< 1 > (char *bytes)
 specialization of swapByte for dimension 1 More...
 
template<>
void swapByte< 2 > (char *bytes)
 specialization of swapByte for dimension 2 More...
 
template<>
void swapByte< 4 > (char *bytes)
 specialization of swapByte for dimension 4 More...
 
template<>
void swapByte< 8 > (char *bytes)
 specialization of swapByte for dimension 8 More...
 
template<typename T >
void swapByte (T &value)
 swaps byte of an arbitrary type T casting it to char* More...
 
PCL_EXPORTS void encodeMonoImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
 Encodes 8-bit mono image to PNG format. More...
 
PCL_EXPORTS void encodeMonoImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
 Encodes 16-bit mono image to PNG format. More...
 
PCL_EXPORTS void encodeRGBImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
 Encodes 8-bit RGB image to PNG format. More...
 
PCL_EXPORTS void encodeRGBImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1)
 Encodes 16-bit RGB image to PNG format. More...
 
PCL_EXPORTS void decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint8_t > &imageData_arg, size_t &width_arg, size_t &heigh_argt, unsigned int &channels_arg)
 Decode compressed PNG to 8-bit image. More...
 
PCL_EXPORTS void decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint16_t > &imageData_arg, size_t &width_arg, size_t &height_arg, unsigned int &channels_arg)
 Decode compressed PNG to 16-bit image. More...
 
PCL_EXPORTS int saveOBJFile (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5)
 Saves a TextureMesh in ascii OBJ format. More...
 
PCL_EXPORTS int saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
 Saves a PolygonMesh in ascii PLY format. More...
 
int loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
 Load a PCD v.6 file into a templated PointCloud type. More...
 
int loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
 Load any PCD file into a templated PointCloud type. More...
 
template<typename PointT >
int loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
 Load any PCD file into a templated PointCloud type. More...
 
int savePCDFile (const std::string &file_name, const pcl::PCLPointCloud2 &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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int savePCDFileBinaryCompressed (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. More...
 
int loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
 Load a PLY v.6 file into a templated PointCloud type. More...
 
int loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
 Load any PLY file into a templated PointCloud type. More...
 
template<typename PointT >
int loadPLYFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
 Load any PLY file into a templated PointCloud type. More...
 
int savePLYFile (const std::string &file_name, const pcl::PCLPointCloud2 &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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
template<typename PointT >
int 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. More...
 
PCL_EXPORTS int savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
 Saves a PolygonMesh in ascii PLY format. More...
 
PCL_EXPORTS int savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh &mesh)
 Saves a PolygonMesh in binary PLY format. More...
 
PCL_EXPORTS void saveCharPNGFile (const std::string &file_name, const unsigned char *mono_image, int width, int height, int channels)
 Saves 8-bit encoded image to PNG file. More...
 
PCL_EXPORTS void saveShortPNGFile (const std::string &file_name, const unsigned short *short_image, int width, int height, int channels)
 Saves 16-bit encoded image to PNG file. More...
 
PCL_EXPORTS void saveRgbPNGFile (const std::string &file_name, const unsigned char *rgb_image, int width, int height)
 Saves 8-bit encoded RGB image to PNG file. More...
 
void savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned char > &cloud)
 Saves 8-bit grayscale cloud as image to PNG file. More...
 
void savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned short > &cloud)
 Saves 16-bit grayscale cloud as image to PNG file. More...
 
template<typename T >
void savePNGFile (const std::string &file_name, const pcl::PointCloud< T > &cloud)
 Saves RGB fields of cloud as image to PNG file. More...
 
void savePNGFile (const std::string &file_name, const pcl::PointCloud< pcl::PointXYZL > &cloud)
 Saves Labeled Point cloud as image to PNG file. More...
 
template<typename PointT >
bool saveTARPointCloud (const std::string &tar_filename, const PointCloud< PointT > &cloud, const std::string &pcd_filename)
 Save a PointCloud dataset into a TAR file. More...
 
PCL_EXPORTS int saveVTKFile (const std::string &file_name, const pcl::PolygonMesh &triangles, unsigned precision=5)
 Saves a PolygonMesh in ascii VTK format. More...
 
PCL_EXPORTS int saveVTKFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, unsigned precision=5)
 Saves a PointCloud in ascii VTK format. More...
 
PCL_EXPORTS int vtk2mesh (const vtkSmartPointer< vtkPolyData > &poly_data, pcl::PolygonMesh &mesh)
 Convert vtkPolyData object to a PCL PolygonMesh. More...
 
PCL_EXPORTS int vtk2mesh (const vtkSmartPointer< vtkPolyData > &poly_data, pcl::TextureMesh &mesh)
 Convert vtkPolyData object to a PCL TextureMesh. More...
 
PCL_EXPORTS int mesh2vtk (const pcl::PolygonMesh &mesh, vtkSmartPointer< vtkPolyData > &poly_data)
 Convert a PCL PolygonMesh to a vtkPolyData object. More...
 
PCL_EXPORTS int loadPolygonFile (const std::string &file_name, pcl::PolygonMesh &mesh)
 Load a PolygonMesh object given an input file name, based on the file extension. More...
 
PCL_EXPORTS int savePolygonFile (const std::string &file_name, const pcl::PolygonMesh &mesh)
 Save a PolygonMesh object given an input file name, based on the file extension. More...
 
PCL_EXPORTS int loadPolygonFileVTK (const std::string &file_name, pcl::PolygonMesh &mesh)
 Load a VTK file into a PolygonMesh object. More...
 
PCL_EXPORTS int loadPolygonFilePLY (const std::string &file_name, pcl::PolygonMesh &mesh)
 Load a PLY file into a PolygonMesh object. More...
 
PCL_EXPORTS int loadPolygonFileOBJ (const std::string &file_name, pcl::PolygonMesh &mesh)
 Load an OBJ file into a PolygonMesh object. More...
 
PCL_EXPORTS int loadPolygonFileOBJ (const std::string &file_name, pcl::TextureMesh &mesh)
 Load an OBJ file into a TextureMesh object. More...
 
PCL_EXPORTS int loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh &mesh)
 Load an STL file into a PolygonMesh object. More...
 
PCL_EXPORTS int savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh &mesh)
 Save a PolygonMesh object into a VTK file. More...
 
PCL_EXPORTS int savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh &mesh)
 Save a PolygonMesh object into a PLY file. More...
 
PCL_EXPORTS int savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh &mesh)
 Save a PolygonMesh object into an STL file. More...
 
PCL_EXPORTS void saveRangeImagePlanarFilePNG (const std::string &file_name, const pcl::RangeImagePlanar &range_image)
 Write a RangeImagePlanar object to a PNG file. More...
 
template<typename PointT >
void pointCloudTovtkPolyData (const pcl::PointCloud< PointT > &cloud, vtkPolyData *const polydata)
 Convert a pcl::PointCloud object to a VTK PolyData one. More...
 
PCL_EXPORTS void pointCloudTovtkPolyData (const pcl::PCLPointCloud2Ptr &cloud, vtkSmartPointer< vtkPolyData > &poly_data)
 Convert a PCLPointCloud2 object to a VTK PolyData object. More...
 
template<typename PointT >
void pointCloudTovtkStructuredGrid (const pcl::PointCloud< PointT > &cloud, vtkStructuredGrid *const structured_grid)
 Convert a pcl::PointCloud object to a VTK StructuredGrid one. More...
 
template<typename PointT >
void vtkPolyDataToPointCloud (vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
 Convert a VTK PolyData object to a pcl::PointCloud one. More...
 
template<typename PointT >
void vtkStructuredGridToPointCloud (vtkStructuredGrid *const structured_grid, pcl::PointCloud< PointT > &cloud)
 Convert a VTK StructuredGrid object to a pcl::PointCloud one. More...
 

Variables

struct configurationProfile_t compressionProfiles_ [COMPRESSION_PROFILE_COUNT]
 

Enumeration Type Documentation

Enumerator
LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR 
LOW_RES_ONLINE_COMPRESSION_WITH_COLOR 
MED_RES_ONLINE_COMPRESSION_WITHOUT_COLOR 
MED_RES_ONLINE_COMPRESSION_WITH_COLOR 
HIGH_RES_ONLINE_COMPRESSION_WITHOUT_COLOR 
HIGH_RES_ONLINE_COMPRESSION_WITH_COLOR 
LOW_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR 
LOW_RES_OFFLINE_COMPRESSION_WITH_COLOR 
MED_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR 
MED_RES_OFFLINE_COMPRESSION_WITH_COLOR 
HIGH_RES_OFFLINE_COMPRESSION_WITHOUT_COLOR 
HIGH_RES_OFFLINE_COMPRESSION_WITH_COLOR 
COMPRESSION_PROFILE_COUNT 
MANUAL_CONFIGURATION 

Definition at line 45 of file compression_profiles.h.

Function Documentation

PCL_EXPORTS int pcl::io::mesh2vtk ( const pcl::PolygonMesh mesh,
vtkSmartPointer< vtkPolyData > &  poly_data 
)

Convert a PCL PolygonMesh to a vtkPolyData object.

Parameters
[in]meshReference to PCL Polygon Mesh
[out]poly_dataPointer (vtkSmartPointer) to a vtkPolyData object
Returns
Number of points in the point cloud of mesh.
template<typename PointT >
bool pcl::io::saveTARPointCloud ( const std::string &  tar_filename,
const PointCloud< PointT > &  cloud,
const std::string &  pcd_filename 
)

Save a PointCloud dataset into a TAR file.

Append if the file exists, or create a new one if not.

Parameters
[in]tar_filenamethe name of the TAR file to save the cloud to
[in]cloudthe point cloud dataset to save
[in]pcd_filenamethe internal name of the PCD file that should be stored in the TAR header
Remarks
till implemented will return FALSE

Definition at line 94 of file tar.h.

template<typename T >
void pcl::io::swapByte ( T &  value)

swaps byte of an arbitrary type T casting it to char*

Parameters
valuethe data you want its bytes swapped

Definition at line 480 of file io.h.

template<>
void pcl::io::swapByte< 1 > ( char *  bytes)
inline

specialization of swapByte for dimension 1

Parameters
byteschar array to swap

Definition at line 445 of file io.h.

template<>
void pcl::io::swapByte< 2 > ( char *  bytes)
inline

specialization of swapByte for dimension 2

Parameters
byteschar array to swap

Definition at line 452 of file io.h.

template<>
void pcl::io::swapByte< 4 > ( char *  bytes)
inline

specialization of swapByte for dimension 4

Parameters
byteschar array to swap

Definition at line 458 of file io.h.

template<>
void pcl::io::swapByte< 8 > ( char *  bytes)
inline

specialization of swapByte for dimension 8

Parameters
byteschar array to swap

Definition at line 468 of file io.h.

PCL_EXPORTS int pcl::io::vtk2mesh ( const vtkSmartPointer< vtkPolyData > &  poly_data,
pcl::PolygonMesh mesh 
)

Convert vtkPolyData object to a PCL PolygonMesh.

Parameters
[in]poly_dataPointer (vtkSmartPointer) to a vtkPolyData object
[out]meshPCL Polygon Mesh to fill
Returns
Number of points in the point cloud of mesh.
PCL_EXPORTS int pcl::io::vtk2mesh ( const vtkSmartPointer< vtkPolyData > &  poly_data,
pcl::TextureMesh mesh 
)

Convert vtkPolyData object to a PCL TextureMesh.

Note
In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&) method, it fills the mesh with the uv-coordinates.
Parameters
[in]poly_dataPointer (vtkSmartPointer) to a vtkPolyData object
[out]meshPCL TextureMesh to fill
Returns
Number of points in the point cloud of mesh.

Variable Documentation

struct configurationProfile_t pcl::io::compressionProfiles_[COMPRESSION_PROFILE_COUNT]