W3cubDocs

/PointCloudLibrary

Point Cloud Data (PCD) file format writer. More...

#include <pcl/io/pcd_io.h>

Public Member Functions

PCDWriter ()
~PCDWriter ()
void setMapSynchronization (bool sync)
Set whether mmap() synchornization via msync() is desired before munmap() calls. More...
std::string generateHeaderBinary (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format. More...
int generateHeaderBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a BINARY_COMPRESSED PCD file format. More...
std::string generateHeaderBinaryCompressed (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a BINARY_COMPRESSED PCD file format. More...
std::string generateHeaderASCII (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format. More...
int writeASCII (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const int precision=8)
Save point cloud data to a PCD file containing n-D points, in ASCII format. More...
int writeBinary (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a PCD file containing n-D points, in BINARY format. More...
int writeBinaryCompressed (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format. More...
int writeBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format. More...
int write (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=false) override
Save point cloud data to a PCD file containing n-D points. More...
int write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false)
Save point cloud data to a PCD file containing n-D points. More...
template<typename PointT >
int writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Save point cloud data to a PCD file containing n-D points, in BINARY format. More...
template<typename PointT >
int writeBinaryCompressed (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Save point cloud data to a binary comprssed PCD file. More...
template<typename PointT >
int writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices)
Save point cloud data to a PCD file containing n-D points, in BINARY format. More...
template<typename PointT >
int writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const int precision=8)
Save point cloud data to a PCD file containing n-D points, in ASCII format. More...
template<typename PointT >
int writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices, const int precision=8)
Save point cloud data to a PCD file containing n-D points, in ASCII format. More...
template<typename PointT >
int write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
Save point cloud data to a PCD file containing n-D points. More...
template<typename PointT >
int write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices, bool binary=false)
Save point cloud data to a PCD file containing n-D points. More...
- Public Member Functions inherited from pcl::FileWriter
FileWriter ()
Empty constructor. More...
virtual ~FileWriter ()
Empty destructor. More...
int write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false)
Save point cloud data to a FILE file containing n-D points. More...
template<typename PointT >
int write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
Save point cloud data to a FILE file containing n-D points. More...

Static Public Member Functions

template<typename PointT >
static std::string generateHeader (const pcl::PointCloud< PointT > &cloud, const int nr_points=std::numeric_limits< int >::max())
Generate the header of a PCD file format. More...

Protected Member Functions

void setLockingPermissions (const std::string &file_name, boost::interprocess::file_lock &lock)
Set permissions for file locking (Boost 1.49+). More...
void resetLockingPermissions (const std::string &file_name, boost::interprocess::file_lock &lock)
Reset permissions for file locking (Boost 1.49+). More...

Detailed Description

Point Cloud Data (PCD) file format writer.

Author
Radu Bogdan Rusu

Definition at line 297 of file pcd_io.h.

Constructor & Destructor Documentation

PCDWriter()

pcl::PCDWriter::PCDWriter ( )
inline

Definition at line 300 of file pcd_io.h.

~PCDWriter()

pcl::PCDWriter::~PCDWriter ( )
inline

Definition at line 301 of file pcd_io.h.

Member Function Documentation

generateHeader()

template<typename PointT >
std::string pcl::PCDWriter::generateHeader ( const pcl::PointCloud< PointT > & cloud,
const int nr_points = std::numeric_limits<int>::max ()
)
static

Generate the header of a PCD file format.

Parameters
[in] cloud the point cloud data message
[in] nr_points if given, use this to fill in WIDTH, HEIGHT (=1), and POINTS in the header By default, nr_points is set to INTMAX, and the data in the header is used instead.

Definition at line 57 of file pcd_io.hpp.

References pcl::getFieldSize(), pcl::getFieldType(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

generateHeaderASCII()

std::string pcl::PCDWriter::generateHeaderASCII ( const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin,
const Eigen::Quaternionf & orientation
)

Generate the header of a PCD file format.

Parameters
[in] cloud the point cloud data message
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation

generateHeaderBinary()

std::string pcl::PCDWriter::generateHeaderBinary ( const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin,
const Eigen::Quaternionf & orientation
)

Generate the header of a PCD file format.

Parameters
[in] cloud the point cloud data message
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation

generateHeaderBinaryCompressed() [1/2]

std::string pcl::PCDWriter::generateHeaderBinaryCompressed ( const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin,
const Eigen::Quaternionf & orientation
)

Generate the header of a BINARY_COMPRESSED PCD file format.

Parameters
[in] cloud the point cloud data message
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation

generateHeaderBinaryCompressed() [2/2]

int pcl::PCDWriter::generateHeaderBinaryCompressed ( std::ostream & os,
const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin,
const Eigen::Quaternionf & orientation
)

Generate the header of a BINARY_COMPRESSED PCD file format.

Parameters
[out] os the stream into which to write the header
[in] cloud the point cloud data message
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation
Returns
  • < 0 (-1) on error
  • == 0 on success

resetLockingPermissions()

void pcl::PCDWriter::resetLockingPermissions ( const std::string & file_name,
boost::interprocess::file_lock & lock
)
protected

Reset permissions for file locking (Boost 1.49+).

Parameters
[in] file_name the file name to reset permission for file locking
[in,out] lock the file lock

setLockingPermissions()

void pcl::PCDWriter::setLockingPermissions ( const std::string & file_name,
boost::interprocess::file_lock & lock
)
protected

Set permissions for file locking (Boost 1.49+).

Parameters
[in] file_name the file name to set permission for file locking
[in,out] lock the file lock

setMapSynchronization()

void pcl::PCDWriter::setMapSynchronization ( bool sync )
inline

Set whether mmap() synchornization via msync() is desired before munmap() calls.

Setting this to true could prevent NFS data loss (see http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html). Default: false

Note
This option should be used by advanced users only!
Please note that using msync() on certain systems can reduce the I/O performance by up to 80%!
Parameters
[in] sync set to true if msync() should be called before munmap()

Definition at line 312 of file pcd_io.h.

write() [1/4]

int pcl::PCDWriter::write ( 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 = false
)
inlineoverridevirtual

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 set to true if the file is to be written in a binary PCD format, 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.

As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.

Implements pcl::FileWriter.

Definition at line 453 of file pcd_io.h.

Referenced by pcl::io::savePCDFile(), pcl::io::savePCDFileASCII(), and pcl::io::savePCDFileBinary().

write() [2/4]

int pcl::PCDWriter::write ( const std::string & file_name,
const pcl::PCLPointCloud2::ConstPtr & cloud,
const Eigen::Vector4f & origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf & orientation = Eigen::Quaternionf::Identity (),
const bool binary = 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 (boost shared pointer)
[in] binary set to true if the file is to be written in a binary PCD format, false (default) for ASCII
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation

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 479 of file pcd_io.h.

References pcl::write().

write() [3/4]

template<typename PointT >
int pcl::PCDWriter::write ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud,
const bool binary = 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 pcl::PointCloud data
[in] binary set to true if the file is to be written in a binary PCD format, 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 553 of file pcd_io.h.

write() [4/4]

template<typename PointT >
int pcl::PCDWriter::write ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud,
const pcl::Indices & indices,
bool binary = 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 pcl::PointCloud data
[in] indices the set of point indices that we want written to disk
[in] binary set to true if the file is to be written in a binary PCD format, 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 577 of file pcd_io.h.

writeASCII() [1/3]

int pcl::PCDWriter::writeASCII ( const std::string & file_name,
const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin = Eigen::Vector4f::Zero(),
const Eigen::Quaternionf & orientation = Eigen::Quaternionf::Identity(),
const int precision = 8
)

Save point cloud data to a PCD file containing n-D points, in ASCII format.

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] precision the specified output numeric stream precision (default: 8)

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.

As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.

writeASCII() [2/3]

template<typename PointT >
int pcl::PCDWriter::writeASCII ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud,
const int precision = 8
)

Save point cloud data to a PCD file containing n-D points, in ASCII format.

Parameters
[in] file_name the output file name
[in] cloud the point cloud data message
[in] precision the specified output numeric stream precision (default: 8)

Definition at line 434 of file pcd_io.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::PCLPointField::FLOAT32, pcl::PCLPointField::FLOAT64, pcl::PointCloud< PointT >::height, pcl::PCLPointField::INT16, pcl::PCLPointField::INT32, pcl::PCLPointField::INT8, pcl::PointCloud< PointT >::size(), pcl::PCLPointField::UINT16, pcl::PCLPointField::UINT32, pcl::PCLPointField::UINT8, and pcl::PointCloud< PointT >::width.

writeASCII() [3/3]

template<typename PointT >
int pcl::PCDWriter::writeASCII ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud,
const pcl::Indices & indices,
const int precision = 8
)

Save point cloud data to a PCD file containing n-D points, in ASCII format.

Parameters
[in] file_name the output file name
[in] cloud the point cloud data message
[in] indices the set of point indices that we want written to disk
[in] precision the specified output numeric stream precision (default: 8)

Definition at line 715 of file pcd_io.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::PCLPointField::FLOAT32, pcl::PCLPointField::FLOAT64, pcl::PointCloud< PointT >::height, pcl::PCLPointField::INT16, pcl::PCLPointField::INT32, pcl::PCLPointField::INT8, pcl::PointCloud< PointT >::size(), pcl::PCLPointField::UINT16, pcl::PCLPointField::UINT32, pcl::PCLPointField::UINT8, and pcl::PointCloud< PointT >::width.

writeBinary() [1/3]

int pcl::PCDWriter::writeBinary ( const std::string & file_name,
const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin = Eigen::Vector4f::Zero(),
const Eigen::Quaternionf & orientation = Eigen::Quaternionf::Identity()
)

Save point cloud data to a PCD file containing n-D points, in BINARY format.

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

writeBinary() [2/3]

template<typename PointT >
int pcl::PCDWriter::writeBinary ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud
)

Save point cloud data to a PCD file containing n-D points, in BINARY format.

Parameters
[in] file_name the output file name
[in] cloud the point cloud data message

Definition at line 111 of file pcd_io.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::getFieldSize(), pcl::io::raw_close(), pcl::io::raw_fallocate(), pcl::io::raw_open(), and pcl::PointCloud< PointT >::size().

writeBinary() [3/3]

template<typename PointT >
int pcl::PCDWriter::writeBinary ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud,
const pcl::Indices & indices
)

Save point cloud data to a PCD file containing n-D points, in BINARY format.

Parameters
[in] file_name the output file name
[in] cloud the point cloud data message
[in] indices the set of point indices that we want written to disk

Definition at line 587 of file pcd_io.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::getFieldSize(), pcl::io::raw_close(), pcl::io::raw_fallocate(), and pcl::io::raw_open().

writeBinaryCompressed() [1/3]

int pcl::PCDWriter::writeBinaryCompressed ( const std::string & file_name,
const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin = Eigen::Vector4f::Zero(),
const Eigen::Quaternionf & orientation = Eigen::Quaternionf::Identity()
)

Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format.

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
Returns
(-1) for a general error (-2) if the input cloud is too large for the file format 0 on success

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange(), and pcl::io::savePCDFileBinaryCompressed().

writeBinaryCompressed() [2/3]

template<typename PointT >
int pcl::PCDWriter::writeBinaryCompressed ( const std::string & file_name,
const pcl::PointCloud< PointT > & cloud
)

Save point cloud data to a binary comprssed PCD file.

Parameters
[in] file_name the output file name
[in] cloud the point cloud data message
Returns
(-1) for a general error (-2) if the input cloud is too large for the file format 0 on success

Definition at line 242 of file pcd_io.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::getFieldSize(), pcl::lzfCompress(), pcl::io::raw_close(), pcl::io::raw_fallocate(), pcl::io::raw_open(), and pcl::PointCloud< PointT >::size().

writeBinaryCompressed() [3/3]

int pcl::PCDWriter::writeBinaryCompressed ( std::ostream & os,
const pcl::PCLPointCloud2 & cloud,
const Eigen::Vector4f & origin = Eigen::Vector4f::Zero(),
const Eigen::Quaternionf & orientation = Eigen::Quaternionf::Identity()
)

Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format.

Parameters
[out] os the stream into which to write the data
[in] cloud the point cloud data message
[in] origin the sensor acquisition origin
[in] orientation the sensor acquisition orientation
Returns
(-1) for a general error (-2) if the input cloud is too large for the file format 0 on success

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_p_c_d_writer.html