Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions
pcl::FileReader Class Referenceabstract

Point Cloud Data (FILE) file format reader interface. More...

#include <pcl/io/file_io.h>

+ Inheritance diagram for pcl::FileReader:

Public Member Functions

 FileReader ()
 empty constructor More...
 
virtual ~FileReader ()
 empty destructor More...
 
virtual int readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, unsigned int &data_idx, const int offset=0)=0
 Read a point cloud data header from a FILE file. More...
 
virtual int read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)=0
 Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2. More...
 
int read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0)
 Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2. More...
 
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 FILE file, and convert it to the given template format. More...
 

Detailed Description

Point Cloud Data (FILE) file format reader interface.

Any (FILE) format file reader should implement its virtual methods.

Author
Nizar Sallem

Definition at line 55 of file file_io.h.

Constructor & Destructor Documentation

pcl::FileReader::FileReader ( )
inline

empty constructor

Definition at line 59 of file file_io.h.

virtual pcl::FileReader::~FileReader ( )
inlinevirtual

empty destructor

Definition at line 61 of file file_io.h.

References pcl::read().

Member Function Documentation

virtual int pcl::FileReader::read ( const std::string &  file_name,
pcl::PCLPointCloud2 cloud,
Eigen::Vector4f &  origin,
Eigen::Quaternionf &  orientation,
int &  file_version,
const int  offset = 0 
)
pure virtual

Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.

Parameters
[in]file_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[out]originthe sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]orientationthe sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]file_versionthe FILE version of the file (either FILE_V6 or FILE_V7)
[in]offsetthe 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).

Implemented in pcl::PCDReader, pcl::PLYReader, pcl::OBJReader, and pcl::ASCIIReader.

int pcl::FileReader::read ( const std::string &  file_name,
pcl::PCLPointCloud2 cloud,
const int  offset = 0 
)
inline

Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.

Note
This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file

FILE_V6 will generate a warning.

Parameters
[in]file_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[in]offsetthe 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).

Definition at line 123 of file file_io.h.

References pcl::read().

template<typename PointT >
int pcl::FileReader::read ( const std::string &  file_name,
pcl::PointCloud< PointT > &  cloud,
const int  offset = 0 
)
inline

Read a point cloud data from any FILE file, and convert it to the given template format.

Parameters
[in]file_namethe name of the file containing the actual PointCloud data
[out]cloudthe resultant PointCloud message read from disk
[in]offsetthe 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).

Definition at line 141 of file file_io.h.

References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

virtual int pcl::FileReader::readHeader ( const std::string &  file_name,
pcl::PCLPointCloud2 cloud,
Eigen::Vector4f &  origin,
Eigen::Quaternionf &  orientation,
int &  file_version,
int &  data_type,
unsigned int &  data_idx,
const int  offset = 0 
)
pure virtual

Read a point cloud data header from a FILE file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.

Returns:

  • < 0 (-1) on error
  • > 0 on success
    Parameters
    [in]file_namethe name of the file to load
    [out]cloudthe resultant point cloud dataset (only the header will be filled)
    [out]originthe sensor acquisition origin (only for > FILE_V7 - null if not present)
    [out]orientationthe sensor acquisition orientation (only for > FILE_V7 - identity if not present)
    [out]file_versionthe FILE version of the file (either FILE_V6 or FILE_V7)
    [out]data_typethe type of data (binary data=1, ascii=0, etc)
    [out]data_idxthe offset of cloud data within the file
    [in]offsetthe 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).

Implemented in pcl::PLYReader, pcl::PCDReader, pcl::OBJReader, and pcl::ASCIIReader.


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