W3cubDocs

Detailed Description

Overview

The pcl_io library contains classes and functions for reading and writing 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:

Reading from files
	pcl::PointCloud	pcl::PCLPointCloud2	pcl::PolygonMesh	pcl::TextureMesh
PCD (ASCII/BINARY/COMPRESSED)	loadPCDFile	loadPCDFile
PLY (ASCII/BINARY)	loadPLYFile	loadPLYFile	loadPLYFile
OBJ (ASCII)	loadOBJFile	loadOBJFile	loadOBJFile	loadOBJFile
IFS	loadIFSFile	loadIFSFile	loadIFSFile
STL (ASCII/BINARY)			loadPolygonFileSTL
VTK			loadPolygonFileVTK
CSV/ASCII	via pcl::ASCIIReader
Automatic format detection	load	load	load	load

Writing to files
	pcl::PointCloud	pcl::PCLPointCloud2	pcl::PolygonMesh	pcl::TextureMesh
PCD ASCII	savePCDFile	savePCDFile
PCD BINARY	savePCDFile	savePCDFile
PCD COMPRESSED	savePCDFileBinaryCompressed	via pcl::PCDWriter
PLY ASCII	savePLYFile	savePLYFile	savePLYFile
PLY BINARY	savePLYFile	savePLYFile	savePLYFileBinary
OBJ (ASCII)			saveOBJFile	saveOBJFile
IFS	saveIFSFile	saveIFSFile
STL (ASCII/BINARY)			savePolygonFileSTL
VTK		saveVTKFile	saveVTKFile or savePolygonFileVTK
Automatic format detection	save	save	save	save

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
uEye and Ensenso SDK for Ensenso handling

Classes
class	pcl::ASCIIReader
	Ascii Point Cloud Reader. More...
class	pcl::io::Buffer< T >
	An abstract base class for fixed-size data buffers. More...
class	pcl::DavidSDKGrabber
	Grabber for davidSDK structured light compliant devices. More...
class	pcl::io::DeBayer
	Various debayering methods. More...
class	pcl::DepthSenseGrabber
	Grabber for DepthSense devices (e.g. More...
class	pcl::DinastGrabber
	Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001) More...
class	pcl::EnsensoGrabber
	Grabber for IDS-Imaging Ensenso's devices. More...
class	pcl::FileGrabber< PointT >
	FileGrabber provides a container-style interface for grabbers which operate on fixed-size input. More...
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::HDLGrabber
	Grabber for the Velodyne High-Definition-Laser (HDL) More...
class	pcl::IFSReader
	Indexed Face set (IFS) file format reader. More...
class	pcl::IFSWriter
	Point Cloud Data (IFS) file format writer. More...
class	pcl::io::Image
	Image interface class providing an interface to fill a RGB or Grayscale image buffer. More...
class	pcl::ImageGrabberBase
	Base class for Image file grabber. More...
class	pcl::io::ImageRGB24
	This class provides methods to fill a RGB or Grayscale image buffer from underlying RGB24 image. More...
class	pcl::io::ImageYUV422
	Concrete implementation of the interface Image for a YUV 422 image used by Primesense devices. More...
class	pcl::io::LZFImageReader
	PCL-LZF image format reader. More...
class	pcl::io::LZFDepth16ImageReader
	PCL-LZF 16-bit depth image format reader. More...
class	pcl::io::LZFRGB24ImageReader
	PCL-LZF 24-bit RGB image format reader. More...
class	pcl::io::LZFYUV422ImageReader
	PCL-LZF 8-bit Bayer image format reader. More...
class	pcl::io::LZFBayer8ImageReader
	PCL-LZF 8-bit Bayer image format reader. More...
class	pcl::io::LZFImageWriter
	PCL-LZF image format writer. More...
class	pcl::io::LZFDepth16ImageWriter
	PCL-LZF 16-bit depth image format writer. More...
class	pcl::io::LZFRGB24ImageWriter
	PCL-LZF 24-bit RGB image format writer. More...
class	pcl::io::LZFYUV422ImageWriter
	PCL-LZF 16-bit YUV422 image format writer. More...
class	pcl::io::LZFBayer8ImageWriter
	PCL-LZF 8-bit Bayer image format writer. More...
class	pcl::ONIGrabber
	A simple ONI grabber. More...
class	openni_wrapper::OpenNIDevice
	Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live. More...
class	openni_wrapper::DeviceKinect
	Concrete implementation of the interface OpenNIDevice for a MS Kinect device. More...
class	openni_wrapper::DeviceONI
	Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file. More...
class	openni_wrapper::DevicePrimesense
	Concrete implementation of the interface OpenNIDevice for a Primesense device. More...
class	openni_wrapper::DeviceXtionPro
	Concrete implementation of the interface OpenNIDevice for a Asus Xtion Pro device. More...
class	openni_wrapper::OpenNIDriver
	Driver class implemented as Singleton. More...
class	openni_wrapper::OpenNIException
	General exception class. More...
class	openni_wrapper::Image
	Image class containing just a reference to image meta data. More...
class	openni_wrapper::ImageBayerGRBG
	This class provides methods to fill a RGB or Grayscale image buffer from underlying Bayer pattern image. More...
class	openni_wrapper::ImageRGB24
	This class provides methods to fill a RGB or Grayscale image buffer from underlying RGB24 image. More...
class	openni_wrapper::ImageYUV422
	Concrete implementation of the interface Image for a YUV 422 image used by Primesense devices. More...
class	pcl::OpenNIGrabber
	Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live) 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::PLYReader
	Point Cloud Data (PLY) file format reader. More...
class	pcl::PLYWriter
	Point Cloud Data (PLY) file format writer. More...
class	pcl::io::PointCloudImageExtractor< PointT >
	Base Image Extractor class for organized point clouds. More...
class	pcl::io::PointCloudImageExtractorWithScaling< PointT >
	Image Extractor extension which provides functionality to apply scaling to the values extracted from a field. More...
class	pcl::io::PointCloudImageExtractorFromNormalField< PointT >
	Image Extractor which uses the data present in the "normal" field. More...
class	pcl::io::PointCloudImageExtractorFromRGBField< PointT >
	Image Extractor which uses the data present in the "rgb" or "rgba" fields to produce a color image with rgb8 encoding. More...
class	pcl::io::PointCloudImageExtractorFromLabelField< PointT >
	Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB image where different labels correspond to different colors. More...
class	pcl::io::PointCloudImageExtractorFromZField< PointT >
	Image Extractor which uses the data present in the "z" field to produce a depth map (as a monochrome image with mono16 encoding). More...
class	pcl::io::PointCloudImageExtractorFromCurvatureField< PointT >
	Image Extractor which uses the data present in the "curvature" field to produce a curvature map (as a monochrome image with mono16 encoding). More...
class	pcl::io::PointCloudImageExtractorFromIntensityField< PointT >
	Image Extractor which uses the data present in the "intensity" field to produce a monochrome intensity image (with mono16 encoding). More...
class	pcl::RealSense2Grabber
	Grabber for Intel Realsense 2 SDK devices (D400 series) More...
class	pcl::RobotEyeGrabber
	Grabber for the Ocular Robotics RobotEye sensor. More...
class	pcl::VLPGrabber
	Grabber for the Velodyne LiDAR (VLP), based on the Velodyne High Definition Laser (HDL) More...
class	pcl::StereoGrabberBase
	Base class for Stereo file grabber. More...

Files
file	byte_order.h
	defines byte shift operations and endianness.
file	io_operators.h
	defines output operators for int8 and uint8
file	ply.h
	contains standard typedefs and generic type traits

Functions
PCL_EXPORTS void	pcl::io::encodeMonoImageToPNG (std::vector< std::uint8_t > &image_arg, std::size_t width_arg, std::size_t height_arg, std::vector< std::uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 8-bit mono image to PNG format. More...
PCL_EXPORTS void	pcl::io::encodeMonoImageToPNG (std::vector< std::uint16_t > &image_arg, std::size_t width_arg, std::size_t height_arg, std::vector< std::uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 16-bit mono image to PNG format. More...
PCL_EXPORTS void	pcl::io::encodeRGBImageToPNG (std::vector< std::uint8_t > &image_arg, std::size_t width_arg, std::size_t height_arg, std::vector< std::uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 8-bit RGB image to PNG format. More...
PCL_EXPORTS void	pcl::io::encodeRGBImageToPNG (std::vector< std::uint16_t > &image_arg, std::size_t width_arg, std::size_t height_arg, std::vector< std::uint8_t > &pngData_arg, int png_level_arg=-1)
	Encodes 16-bit RGB image to PNG format. More...
PCL_EXPORTS void	pcl::io::decodePNGToImage (std::vector< std::uint8_t > &pngData_arg, std::vector< std::uint8_t > &imageData_arg, std::size_t &width_arg, std::size_t &heigh_argt, unsigned int &channels_arg)
	Decode compressed PNG to 8-bit image. More...
PCL_EXPORTS void	pcl::io::decodePNGToImage (std::vector< std::uint8_t > &pngData_arg, std::vector< std::uint16_t > &imageData_arg, std::size_t &width_arg, std::size_t &height_arg, unsigned int &channels_arg)
	Decode compressed PNG to 16-bit image. More...
static void	pcl::io::OrganizedConversion< PointT, false >::convert (const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool, typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &)
	Convert point cloud to disparity image. More...
static void	pcl::io::OrganizedConversion< PointT, false >::convert (typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &, bool, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg)
	Convert disparity image to point cloud. More...
static void	pcl::io::OrganizedConversion< PointT, false >::convert (typename std::vector< float > &depthData_arg, typename std::vector< std::uint8_t > &, bool, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg)
	Convert disparity image to point cloud. More...
static void	pcl::io::OrganizedConversion< PointT, true >::convert (const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool convertToMono, typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &rgbData_arg)
	Convert point cloud to disparity image and rgb image. More...
static void	pcl::io::OrganizedConversion< PointT, true >::convert (typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &rgbData_arg, bool monoImage_arg, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg)
	Convert disparity image to point cloud. More...
static void	pcl::io::OrganizedConversion< PointT, true >::convert (typename std::vector< float > &depthData_arg, typename std::vector< std::uint8_t > &rgbData_arg, bool monoImage_arg, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg)
	Convert disparity image to point cloud. More...
PCL_EXPORTS int	pcl::io::load (const std::string &file_name, pcl::PCLPointCloud2 &blob)
	Load a file into a PointCloud2 according to extension. More...
template<typename PointT >
int	pcl::io::load (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load a file into a template PointCloud type according to extension. More...
PCL_EXPORTS int	pcl::io::load (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a file into a PolygonMesh according to extension. More...
PCL_EXPORTS int	pcl::io::load (const std::string &file_name, pcl::TextureMesh &mesh)
	Load a file into a TextureMesh according to extension. More...
PCL_EXPORTS int	pcl::io::save (const std::string &file_name, const pcl::PCLPointCloud2 &blob, unsigned precision=5)
	Save point cloud data to a binary file when available else to ASCII. More...
template<typename PointT >
int	pcl::io::save (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud to a binary file when available else to ASCII. More...
PCL_EXPORTS int	pcl::io::save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5)
	Saves a TextureMesh to a binary file when available else to ASCII. More...
PCL_EXPORTS int	pcl::io::save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh to a binary file when available else to ASCII. More...
int	pcl::io::loadIFSFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load an IFS file into a PCLPointCloud2 blob type. More...
template<typename PointT >
int	pcl::io::loadIFSFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any IFS file into a templated PointCloud type. More...
int	pcl::io::loadIFSFile (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load any IFS file into a PolygonMesh type. More...
int	pcl::io::saveIFSFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud)
	Save point cloud data to an IFS file containing 3D points. More...
template<typename PointT >
int	pcl::io::saveIFSFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud data to an IFS file containing 3D points. More...
int	pcl::io::loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
	Load any OBJ file into a templated PointCloud type. More...
int	pcl::io::loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load an OBJ file into a PCLPointCloud2 blob type. More...
template<typename PointT >
int	pcl::io::loadOBJFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any OBJ file into a templated PointCloud type. More...
int	pcl::io::loadOBJFile (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load any OBJ file into a PolygonMesh type. More...
int	pcl::io::loadOBJFile (const std::string &file_name, pcl::TextureMesh &mesh)
	Load any OBJ file into a TextureMesh type. More...
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. More...
PCL_EXPORTS int	pcl::io::saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh in ascii OBJ format. More...
int	pcl::io::loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load a PCD v.6 file into a templated PointCloud type. More...
int	pcl::io::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	pcl::io::loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)
	Load any PCD file into a templated PointCloud type. More...
int	pcl::io::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	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. More...
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. More...
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. More...
template<typename PointT >
int	pcl::io::savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &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	pcl::io::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	pcl::io::loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
	Load a PLY v.6 file into a PCLPointCloud2 type. More...
int	pcl::io::loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
	Load any PLY file into a PCLPointCloud2 type. More...
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. More...
int	pcl::io::loadPLYFile (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PLY file into a PolygonMesh type. More...
int	pcl::io::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	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. More...
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. More...
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. More...
template<typename PointT >
int	pcl::io::savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &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	pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
	Saves a PolygonMesh in ascii PLY format. More...
PCL_EXPORTS int	pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh &mesh)
	Saves a PolygonMesh in binary PLY format. More...
PCL_EXPORTS void	pcl::io::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	pcl::io::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	pcl::io::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...
PCL_EXPORTS void	pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned char > &cloud)
	Saves 8-bit grayscale cloud as image to PNG file. More...
PCL_EXPORTS void	pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned short > &cloud)
	Saves 16-bit grayscale cloud as image to PNG file. More...
PCL_EXPORTS void	pcl::io::savePNGFile (const std::string &file_name, const pcl::PCLImage &image)
	Saves a PCLImage (formerly ROS sensor_msgs::Image) to PNG file. More...
template<typename PointT >
void	pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::string &field_name)
	Saves the data from the specified field of the point cloud as image to PNG file. More...
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. More...
PCL_EXPORTS int	pcl::io::saveVTKFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, unsigned precision=5)
	Saves a PointCloud in ascii VTK format. More...
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. More...
PCL_EXPORTS bool	pcl::io::savePolygonFile (const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
	Save a PolygonMesh object given an input file name, based on the file extension. More...
PCL_EXPORTS int	pcl::io::loadPolygonFileVTK (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a VTK file into a PolygonMesh object. More...
PCL_EXPORTS int	pcl::io::loadPolygonFilePLY (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load a PLY file into a PolygonMesh object. More...
PCL_EXPORTS int	pcl::io::loadPolygonFileOBJ (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an OBJ file into a PolygonMesh object. More...
PCL_EXPORTS int	pcl::io::loadPolygonFileOBJ (const std::string &file_name, pcl::TextureMesh &mesh)
	Load an OBJ file into a TextureMesh object. More...
PCL_EXPORTS int	pcl::io::loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh &mesh)
	Load an STL file into a PolygonMesh object. More...
PCL_EXPORTS bool	pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
	Save a PolygonMesh object into a VTK file. More...
PCL_EXPORTS bool	pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
	Save a PolygonMesh object into a PLY file. More...
PCL_EXPORTS bool	pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
	Save a PolygonMesh object into an STL file. More...
PCL_EXPORTS void	pcl::io::saveRangeImagePlanarFilePNG (const std::string &file_name, const pcl::RangeImagePlanar &range_image)
	Write a RangeImagePlanar object to a PNG file. More...
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. More...
PCL_EXPORTS void	pcl::io::pointCloudTovtkPolyData (const pcl::PCLPointCloud2Ptr &cloud, vtkSmartPointer< vtkPolyData > &poly_data)
	Convert a PCLPointCloud2 object to a VTK PolyData object. More...
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. More...
template<typename PointT >
void	pcl::io::vtkPolyDataToPointCloud (vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
	Convert a VTK PolyData object to a pcl::PointCloud one. More...
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. More...

Function Documentation

convert() [1/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, true >::convert	(	const pcl::PointCloud< PointT > &	cloud_arg,
		float	focalLength_arg,
		float	disparityShift_arg,
		float	disparityScale_arg,
		bool	convertToMono,
		typename std::vector< std::uint16_t > &	disparityData_arg,
		typename std::vector< std::uint8_t > &	rgbData_arg
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert point cloud to disparity image and rgb image.

Parameters

[in]	cloud_arg	input point cloud
[in]	focalLength_arg	focal length
[in]	disparityShift_arg	disparity shift
[in]	disparityScale_arg	disparity scaling
[in]	convertToMono	convert color to mono/grayscale
[out]	disparityData_arg	output disparity image
[out]	rgbData_arg	output rgb image

Definition at line 273 of file organized_pointcloud_conversion.h.

References pcl::isFinite(), pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::size().

convert() [2/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, false >::convert	(	const pcl::PointCloud< PointT > &	cloud_arg,
		float	focalLength_arg,
		float	disparityShift_arg,
		float	disparityScale_arg,
		bool	,
		typename std::vector< std::uint16_t > &	disparityData_arg,
		typename std::vector< std::uint8_t > &
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert point cloud to disparity image.

Parameters

[in]	cloud_arg	input point cloud
[in]	focalLength_arg	focal length
[in]	disparityShift_arg	disparity shift
[in]	disparityScale_arg	disparity scaling
[out]	disparityData_arg	output disparity image

Definition at line 93 of file organized_pointcloud_conversion.h.

References pcl::isFinite(), pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::size().

convert() [3/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, false >::convert	(	typename std::vector< float > &	depthData_arg,
		typename std::vector< std::uint8_t > &	,
		bool	,
		std::size_t	width_arg,
		std::size_t	height_arg,
		float	focalLength_arg,
		pcl::PointCloud< PointT > &	cloud_arg
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert disparity image to point cloud.

Parameters

[in]	depthData_arg	input depth image
[in]	width_arg	width of disparity image
[in]	height_arg	height of disparity image
[in]	focalLength_arg	focal length
[out]	cloud_arg	output point cloud

Definition at line 204 of file organized_pointcloud_conversion.h.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), and pcl::PointCloud< PointT >::width.

convert() [4/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, true >::convert	(	typename std::vector< float > &	depthData_arg,
		typename std::vector< std::uint8_t > &	rgbData_arg,
		bool	monoImage_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		float	focalLength_arg,
		pcl::PointCloud< PointT > &	cloud_arg
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert disparity image to point cloud.

Parameters

[in]	depthData_arg	output disparity image
[in]	rgbData_arg	output rgb image
[in]	monoImage_arg	input image is a single-channel mono image
[in]	width_arg	width of disparity image
[in]	height_arg	height of disparity image
[in]	focalLength_arg	focal length
[out]	cloud_arg	output point cloud

Definition at line 460 of file organized_pointcloud_conversion.h.

convert() [5/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, false >::convert	(	typename std::vector< std::uint16_t > &	disparityData_arg,
		typename std::vector< std::uint8_t > &	,
		bool	,
		std::size_t	width_arg,
		std::size_t	height_arg,
		float	focalLength_arg,
		float	disparityShift_arg,
		float	disparityScale_arg,
		pcl::PointCloud< PointT > &	cloud_arg
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert disparity image to point cloud.

Parameters

[in]	disparityData_arg	input depth image
[in]	width_arg	width of disparity image
[in]	height_arg	height of disparity image
[in]	focalLength_arg	focal length
[in]	disparityShift_arg	disparity shift
[in]	disparityScale_arg	disparity scaling
[out]	cloud_arg	output point cloud

Definition at line 137 of file organized_pointcloud_conversion.h.

convert() [6/6]

template<typename PointT >

static void pcl::io::OrganizedConversion< PointT, true >::convert	(	typename std::vector< std::uint16_t > &	disparityData_arg,
		typename std::vector< std::uint8_t > &	rgbData_arg,
		bool	monoImage_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		float	focalLength_arg,
		float	disparityShift_arg,
		float	disparityScale_arg,
		pcl::PointCloud< PointT > &	cloud_arg
	)

inlinestatic

#include <pcl/compression/organized_pointcloud_conversion.h>

Convert disparity image to point cloud.

Parameters

[in]	disparityData_arg	output disparity image
[in]	rgbData_arg	output rgb image
[in]	monoImage_arg	input image is a single-channel mono image
[in]	width_arg	width of disparity image
[in]	height_arg	height of disparity image
[in]	focalLength_arg	focal length
[in]	disparityShift_arg	disparity shift
[in]	disparityScale_arg	disparity scaling
[out]	cloud_arg	output point cloud

Definition at line 356 of file organized_pointcloud_conversion.h.

decodePNGToImage() [1/2]

PCL_EXPORTS void pcl::io::decodePNGToImage	(	std::vector< std::uint8_t > &	pngData_arg,
		std::vector< std::uint16_t > &	imageData_arg,
		std::size_t &	width_arg,
		std::size_t &	height_arg,
		unsigned int &	channels_arg
	)

#include <pcl/compression/libpng_wrapper.h>

Decode compressed PNG to 16-bit image.

Parameters

[in]	pngData_arg	PNG compressed input data
[in]	imageData_arg	image output data
[out]	width_arg	image width
[out]	height_arg	image height
[out]	channels_arg	number of channels

decodePNGToImage() [2/2]

PCL_EXPORTS void pcl::io::decodePNGToImage	(	std::vector< std::uint8_t > &	pngData_arg,
		std::vector< std::uint8_t > &	imageData_arg,
		std::size_t &	width_arg,
		std::size_t &	heigh_argt,
		unsigned int &	channels_arg
	)

#include <pcl/compression/libpng_wrapper.h>

Decode compressed PNG to 8-bit image.

Parameters

[in]	pngData_arg	PNG compressed input data
[in]	imageData_arg	image output data
[out]	width_arg	image width
[out]	heigh_argt	image height
[out]	channels_arg	number of channels

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud().

encodeMonoImageToPNG() [1/2]

PCL_EXPORTS void pcl::io::encodeMonoImageToPNG	(	std::vector< std::uint16_t > &	image_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		std::vector< std::uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

#include <pcl/compression/libpng_wrapper.h>

Encodes 16-bit mono image to PNG format.

Parameters

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData_arg	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

encodeMonoImageToPNG() [2/2]

PCL_EXPORTS void pcl::io::encodeMonoImageToPNG	(	std::vector< std::uint8_t > &	image_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		std::vector< std::uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

#include <pcl/compression/libpng_wrapper.h>

Encodes 8-bit mono image to PNG format.

Parameters

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData_arg	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud(), and pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage().

encodeRGBImageToPNG() [1/2]

PCL_EXPORTS void pcl::io::encodeRGBImageToPNG	(	std::vector< std::uint16_t > &	image_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		std::vector< std::uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

#include <pcl/compression/libpng_wrapper.h>

Encodes 16-bit RGB image to PNG format.

Parameters

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData_arg	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

encodeRGBImageToPNG() [2/2]

PCL_EXPORTS void pcl::io::encodeRGBImageToPNG	(	std::vector< std::uint8_t > &	image_arg,
		std::size_t	width_arg,
		std::size_t	height_arg,
		std::vector< std::uint8_t > &	pngData_arg,
		int	png_level_arg = `-1`
	)

#include <pcl/compression/libpng_wrapper.h>

Encodes 8-bit RGB image to PNG format.

Parameters

[in]	image_arg	input image data
[in]	width_arg	image width
[in]	height_arg	image height
[out]	pngData_arg	PNG compressed image data
[in]	png_level_arg	zLib compression level (default level: -1)

Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud(), and pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage().

load() [1/4]

PCL_EXPORTS int pcl::io::load	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	blob
	)

#include <pcl/io/auto_io.h>

Load a file into a PointCloud2 according to extension.

Parameters

[in]	file_name	the name of the file to load
[out]	blob	the resultant pcl::PointCloud2 blob

load() [2/4]

template<typename PointT >

int pcl::io::load	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)

#include <pcl/io/auto_io.h>

Load a file into a template PointCloud type according to extension.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Definition at line 55 of file auto_io.hpp.

References pcl::io::loadIFSFile(), pcl::io::loadOBJFile(), pcl::io::loadPCDFile(), and pcl::io::loadPLYFile().

load() [3/4]

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

#include <pcl/io/auto_io.h>

Load a file into a PolygonMesh according to extension.

Parameters

[in]	file_name	the name of the file to load
[out]	mesh	the resultant pcl::PolygonMesh

load() [4/4]

PCL_EXPORTS int pcl::io::load	(	const std::string &	file_name,
		pcl::TextureMesh &	mesh
	)

#include <pcl/io/auto_io.h>

Load a file into a TextureMesh according to extension.

Parameters

[in]	file_name	the name of the file to load
[out]	mesh	the resultant pcl::TextureMesh

loadIFSFile() [1/3]

int pcl::io::loadIFSFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)

inline

#include <pcl/io/ifs_io.h>

Load an IFS file into a PCLPointCloud2 blob type.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Returns: 0 on success < 0 on error

Definition at line 190 of file ifs_io.h.

References pcl::IFSReader::read().

Referenced by pcl::io::load().

loadIFSFile() [2/3]

template<typename PointT >

int pcl::io::loadIFSFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/ifs_io.h>

Load any IFS file into a templated PointCloud type.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Returns: 0 on success < 0 on error

Definition at line 205 of file ifs_io.h.

References pcl::IFSReader::read().

loadIFSFile() [3/3]

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

inline

#include <pcl/io/ifs_io.h>

Load any IFS file into a PolygonMesh type.

Parameters

[in]	file_name	the name of the file to load
[out]	mesh	the resultant mesh

Returns: 0 on success < 0 on error

Definition at line 219 of file ifs_io.h.

References pcl::IFSReader::read().

loadOBJFile() [1/5]

int pcl::io::loadOBJFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)

inline

#include <pcl/io/obj_io.h>

Load an OBJ file into a PCLPointCloud2 blob type.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant templated point cloud

Returns: 0 on success < 0 on error

Definition at line 277 of file obj_io.h.

References pcl::OBJReader::read().

loadOBJFile() [2/5]

int pcl::io::loadOBJFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)

inline

#include <pcl/io/obj_io.h>

Load any OBJ 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, null
[out]	orientation	the sensor acquisition orientation, identity

Definition at line 261 of file obj_io.h.

References pcl::OBJReader::read().

Referenced by pcl::io::load().

loadOBJFile() [3/5]

template<typename PointT >

int pcl::io::loadOBJFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/obj_io.h>

Load any OBJ 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 289 of file obj_io.h.

References pcl::OBJReader::read().

loadOBJFile() [4/5]

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

inline

#include <pcl/io/obj_io.h>

Load any OBJ file into a PolygonMesh type.

Parameters

[in]	file_name	the name of the file to load
[out]	mesh	the resultant mesh

Returns: 0 on success < 0 on error

Definition at line 303 of file obj_io.h.

References pcl::OBJReader::read().

loadOBJFile() [5/5]

int pcl::io::loadOBJFile	(	const std::string &	file_name,
		pcl::TextureMesh &	mesh
	)

inline

#include <pcl/io/obj_io.h>

Load any OBJ file into a TextureMesh type.

Parameters

[in]	file_name	the name of the file to load
[out]	mesh	the resultant mesh

Returns: 0 on success < 0 on error

Definition at line 317 of file obj_io.h.

References pcl::OBJReader::read().

loadPCDFile() [1/3]

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)

inline

#include <pcl/io/pcd_io.h>

Load a PCD v.6 file into a templated PointCloud type.

Any PCD files > v.6 will generate a warning as a pcl/PCLPointCloud2 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 633 of file pcd_io.h.

References pcl::PCDReader::read().

Referenced by pcl::io::load(), ObjectRecognition::populateDatabase(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::read().

loadPCDFile() [2/3]

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)

inline

#include <pcl/io/pcd_io.h>

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 648 of file pcd_io.h.

References pcl::PCDReader::read().

loadPCDFile() [3/3]

template<typename PointT >

int pcl::io::loadPCDFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/pcd_io.h>

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 662 of file pcd_io.h.

References pcl::PCDReader::read().

loadPLYFile() [1/4]

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud
	)

inline

#include <pcl/io/ply_io.h>

Load a PLY v.6 file into a PCLPointCloud2 type.

Any PLY files containing sensor data will generate a warning as a pcl/PCLPointCloud2 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 745 of file ply_io.h.

References pcl::PLYReader::read().

Referenced by pcl::io::load().

loadPLYFile() [2/4]

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)

inline

#include <pcl/io/ply_io.h>

Load any PLY file into a PCLPointCloud2 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 > PLY_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation if available, identity if not present

Definition at line 760 of file ply_io.h.

References pcl::PLYReader::read().

loadPLYFile() [3/4]

template<typename PointT >

int pcl::io::loadPLYFile	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/ply_io.h>

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 774 of file ply_io.h.

References pcl::PLYReader::read().

loadPLYFile() [4/4]

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

inline

#include <pcl/io/ply_io.h>

Load a PLY file into a PolygonMesh type.

Any PLY files containing sensor data will generate a warning as a pcl/PolygonMesh message cannot hold the sensor origin.

Parameters

[in]	file_name	the name of the file to load
[in]	mesh	the resultant polygon mesh

Definition at line 790 of file ply_io.h.

References pcl::PLYReader::read().

loadPolygonFile()

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

#include <pcl/io/vtk_lib_io.h>

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

Returns: Number of points in the point cloud of the mesh.

loadPolygonFileOBJ() [1/2]

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

#include <pcl/io/vtk_lib_io.h>

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

Returns: Number of points in the point cloud of the mesh.

loadPolygonFileOBJ() [2/2]

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

#include <pcl/io/vtk_lib_io.h>

Load an OBJ file into a TextureMesh object.

Note: In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&) method, this method also loads the uv-coordinates from the file. It does not load the material information.

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

Returns: Number of points in the point cloud of the mesh.

loadPolygonFilePLY()

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

#include <pcl/io/vtk_lib_io.h>

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

Returns: Number of points in the point cloud of the mesh.

loadPolygonFileSTL()

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

#include <pcl/io/vtk_lib_io.h>

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

Returns: Number of points in the point cloud of the mesh.

loadPolygonFileVTK()

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

#include <pcl/io/vtk_lib_io.h>

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

Returns: Number of points in the point cloud of the mesh.

pointCloudTovtkPolyData() [1/2]

PCL_EXPORTS void pcl::io::pointCloudTovtkPolyData	(	const pcl::PCLPointCloud2Ptr &	cloud,
		vtkSmartPointer< vtkPolyData > &	poly_data
	)

#include <pcl/io/vtk_lib_io.h>

Convert a PCLPointCloud2 object to a VTK PolyData object.

Parameters

[in]	cloud	the input PCLPointCloud2Ptr object
[out]	poly_data	the resultant VTK PolyData object

pointCloudTovtkPolyData() [2/2]

template<typename PointT >

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

#include <pcl/io/vtk_lib_io.h>

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 286 of file vtk_lib_io.hpp.

References pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::size().

pointCloudTovtkStructuredGrid()

template<typename PointT >

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

#include <pcl/io/vtk_lib_io.h>

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 394 of file vtk_lib_io.hpp.

References pcl::PointCloud< PointT >::height, pcl::isFinite(), and pcl::PointCloud< PointT >::width.

save() [1/4]

PCL_EXPORTS int pcl::io::save	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	blob,
		unsigned	precision = `5`
	)

#include <pcl/io/auto_io.h>

Save point cloud data to a binary file when available else to ASCII.

Parameters

[in]	file_name	the output file name
[in]	blob	the point cloud data message
[in]	precision	float precision when saving to ASCII files

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setSaveHistograms().

save() [2/4]

template<typename PointT >

int pcl::io::save	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

#include <pcl/io/auto_io.h>

Save point cloud to a binary file when available else to ASCII.

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud

Definition at line 77 of file auto_io.hpp.

References pcl::io::saveIFSFile(), pcl::io::savePCDFile(), and pcl::io::savePLYFile().

save() [3/4]

PCL_EXPORTS int pcl::io::save	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = `5`
	)

#include <pcl/io/auto_io.h>

Saves a PolygonMesh to a binary file when available else to ASCII.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save
[in]	precision	float precision when saving to ASCII files

save() [4/4]

PCL_EXPORTS int pcl::io::save	(	const std::string &	file_name,
		const pcl::TextureMesh &	tex_mesh,
		unsigned	precision = `5`
	)

#include <pcl/io/auto_io.h>

Saves a TextureMesh to a binary file when available else to ASCII.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	tex_mesh	the texture mesh to save
[in]	precision	float precision when saving to ASCII files

saveCharPNGFile()

PCL_EXPORTS void pcl::io::saveCharPNGFile	(	const std::string &	file_name,
		const unsigned char *	mono_image,
		int	width,
		int	height,
		int	channels
	)

#include <pcl/io/png_io.h>

Saves 8-bit encoded image to PNG file.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	mono_image	image grayscale data
[in]	width	image width
[in]	height	image height
[in]	channels	number of channels

saveIFSFile() [1/2]

int pcl::io::saveIFSFile	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud
	)

inline

#include <pcl/io/ifs_io.h>

Save point cloud data to an IFS file containing 3D points.

Parameters

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

Returns: 0 on success < 0 on error

Definition at line 234 of file ifs_io.h.

References pcl::IFSWriter::write().

Referenced by pcl::io::save().

saveIFSFile() [2/2]

template<typename PointT >

int pcl::io::saveIFSFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

#include <pcl/io/ifs_io.h>

Save point cloud data to an IFS file containing 3D points.

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud

Returns: 0 on success < 0 on error

Definition at line 248 of file ifs_io.h.

References pcl::IFSWriter::write().

saveOBJFile() [1/2]

PCL_EXPORTS int pcl::io::saveOBJFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = `5`
	)

#include <pcl/io/obj_io.h>

Saves a PolygonMesh in ascii OBJ 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

saveOBJFile() [2/2]

PCL_EXPORTS int pcl::io::saveOBJFile	(	const std::string &	file_name,
		const pcl::TextureMesh &	tex_mesh,
		unsigned	precision = `5`
	)

#include <pcl/io/obj_io.h>

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

Returns: 0 on success, else a negative number

savePCDFile() [1/3]

int pcl::io::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`
	)

inline

#include <pcl/io/pcd_io.h>

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 684 of file pcd_io.h.

References pcl::PCDWriter::write().

Referenced by pcl::io::save().

savePCDFile() [2/3]

template<typename PointT >

int pcl::io::savePCDFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary_mode = `false`
	)

inline

#include <pcl/io/pcd_io.h>

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

Definition at line 708 of file pcd_io.h.

References pcl::PCDWriter::write().

savePCDFile() [3/3]

template<typename PointT >

int pcl::io::savePCDFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const pcl::Indices &	indices,
		const bool	binary_mode = `false`
	)

#include <pcl/io/pcd_io.h>

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

Definition at line 771 of file pcd_io.h.

References pcl::PCDWriter::write().

savePCDFileASCII()

template<typename PointT >

int pcl::io::savePCDFileASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/pcd_io.h>

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 731 of file pcd_io.h.

References pcl::PCDWriter::write().

savePCDFileBinary()

template<typename PointT >

int pcl::io::savePCDFileBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/pcd_io.h>

Templated version for saving point cloud data to a PCD file containing a specific given cloud format.

The resulting file will be an uncompressed binary.

 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 747 of file pcd_io.h.

References pcl::PCDWriter::write().

savePCDFileBinaryCompressed()

template<typename PointT >

int pcl::io::savePCDFileBinaryCompressed	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/pcd_io.h>

Templated version for saving point cloud data to a PCD file containing a specific given cloud format.

This method will write a compressed binary file.

 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 792 of file pcd_io.h.

References pcl::PCDWriter::writeBinaryCompressed().

savePLYFile() [1/4]

int pcl::io::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`
	)

inline

#include <pcl/io/ply_io.h>

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
[in]	use_camera

Definition at line 806 of file ply_io.h.

References pcl::PLYWriter::write().

Referenced by pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::getMeshesFromTSDFVector(), and pcl::io::save().

savePLYFile() [2/4]

template<typename PointT >

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		bool	binary_mode = `false`
	)

inline

#include <pcl/io/ply_io.h>

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 823 of file ply_io.h.

References pcl::PLYWriter::write().

savePLYFile() [3/4]

template<typename PointT >

int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const pcl::Indices &	indices,
		bool	binary_mode = `false`
	)

#include <pcl/io/ply_io.h>

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 862 of file ply_io.h.

References pcl::copyPointCloud(), and pcl::PLYWriter::write().

savePLYFile() [4/4]

PCL_EXPORTS int pcl::io::savePLYFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		unsigned	precision = `5`
	)

#include <pcl/io/ply_io.h>

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

savePLYFileASCII()

template<typename PointT >

int pcl::io::savePLYFileASCII	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/ply_io.h>

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 836 of file ply_io.h.

References pcl::PLYWriter::write().

savePLYFileBinary() [1/2]

template<typename PointT >

int pcl::io::savePLYFileBinary	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud
	)

inline

#include <pcl/io/ply_io.h>

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 848 of file ply_io.h.

References pcl::PLYWriter::write().

savePLYFileBinary() [2/2]

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

#include <pcl/io/ply_io.h>

Saves a PolygonMesh in binary PLY format.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	mesh	the polygonal mesh to save

savePNGFile() [1/4]

PCL_EXPORTS void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PCLImage &	image
	)

#include <pcl/io/png_io.h>

Saves a PCLImage (formerly ROS sensor_msgs::Image) to PNG file.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	image	image to save

Note: Currently only "rgb8", "mono8", and "mono16" image encodings are supported.

savePNGFile() [2/4]

template<typename PointT >

void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const std::string &	field_name
	)

#include <pcl/io/png_io.h>

Saves the data from the specified field of the point cloud as image to PNG file.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	cloud	point cloud to save
[in]	field_name	the name of the field to extract data from

Definition at line 116 of file png_io.h.

References pcl::io::savePNGFile().

savePNGFile() [3/4]

PCL_EXPORTS void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< unsigned char > &	cloud
	)

#include <pcl/io/png_io.h>

Saves 8-bit grayscale cloud as image to PNG file.

Parameters

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

Referenced by pcl::io::savePNGFile().

savePNGFile() [4/4]

PCL_EXPORTS void pcl::io::savePNGFile	(	const std::string &	file_name,
		const pcl::PointCloud< unsigned short > &	cloud
	)

#include <pcl/io/png_io.h>

Saves 16-bit grayscale cloud as image to PNG file.

Parameters

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

savePolygonFile()

PCL_EXPORTS bool pcl::io::savePolygonFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		const bool	binary_format = `true`
	)

#include <pcl/io/vtk_lib_io.h>

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
[in]	binary_format	if true, exported file is in binary format

Returns: True if successful, false otherwise

savePolygonFilePLY()

PCL_EXPORTS bool pcl::io::savePolygonFilePLY	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		const bool	binary_format = `true`
	)

#include <pcl/io/vtk_lib_io.h>

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
[in]	binary_format	if true, exported file is in binary format

Returns: True if successful, false otherwise

savePolygonFileSTL()

PCL_EXPORTS bool pcl::io::savePolygonFileSTL	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		const bool	binary_format = `true`
	)

#include <pcl/io/vtk_lib_io.h>

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
[in]	binary_format	if true, exported file is in binary format

Returns: True if successful, false otherwise

savePolygonFileVTK()

PCL_EXPORTS bool pcl::io::savePolygonFileVTK	(	const std::string &	file_name,
		const pcl::PolygonMesh &	mesh,
		const bool	binary_format = `true`
	)

#include <pcl/io/vtk_lib_io.h>

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
[in]	binary_format	if true, exported file is in binary format

Returns: True if successful, false otherwise

saveRangeImagePlanarFilePNG()

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

#include <pcl/io/vtk_lib_io.h>

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

saveRgbPNGFile()

PCL_EXPORTS void pcl::io::saveRgbPNGFile	(	const std::string &	file_name,
		const unsigned char *	rgb_image,
		int	width,
		int	height
	)

#include <pcl/io/png_io.h>

Saves 8-bit encoded RGB image to PNG file.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	rgb_image	image rgb data
[in]	width	image width
[in]	height	image height

saveShortPNGFile()

PCL_EXPORTS void pcl::io::saveShortPNGFile	(	const std::string &	file_name,
		const unsigned short *	short_image,
		int	width,
		int	height,
		int	channels
	)

#include <pcl/io/png_io.h>

Saves 16-bit encoded image to PNG file.

Parameters

[in]	file_name	the name of the file to write to disk
[in]	short_image	image short data
[in]	width	image width
[in]	height	image height
[in]	channels	number of channels

saveVTKFile() [1/2]

PCL_EXPORTS int pcl::io::saveVTKFile	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud,
		unsigned	precision = `5`
	)

#include <pcl/io/vtk_io.h>

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

saveVTKFile() [2/2]

PCL_EXPORTS int pcl::io::saveVTKFile	(	const std::string &	file_name,
		const pcl::PolygonMesh &	triangles,
		unsigned	precision = `5`
	)

#include <pcl/io/vtk_io.h>

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

vtkPolyDataToPointCloud()

template<typename PointT >

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

#include <pcl/io/vtk_lib_io.h>

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 71 of file vtk_lib_io.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

vtkStructuredGridToPointCloud()

template<typename PointT >

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

#include <pcl/io/vtk_lib_io.h>

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 160 of file vtk_lib_io.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

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

Detailed Description

Overview

Requirements

Classes

Files

Functions

Function Documentation

convert() [1/6]

convert() [2/6]

convert() [3/6]

convert() [4/6]

convert() [5/6]

convert() [6/6]

decodePNGToImage() [1/2]

decodePNGToImage() [2/2]

encodeMonoImageToPNG() [1/2]

encodeMonoImageToPNG() [2/2]

encodeRGBImageToPNG() [1/2]

encodeRGBImageToPNG() [2/2]

load() [1/4]

load() [2/4]

load() [3/4]

load() [4/4]

loadIFSFile() [1/3]

loadIFSFile() [2/3]

loadIFSFile() [3/3]

loadOBJFile() [1/5]

loadOBJFile() [2/5]

loadOBJFile() [3/5]

loadOBJFile() [4/5]

loadOBJFile() [5/5]

loadPCDFile() [1/3]

loadPCDFile() [2/3]

loadPCDFile() [3/3]

loadPLYFile() [1/4]

loadPLYFile() [2/4]

loadPLYFile() [3/4]

loadPLYFile() [4/4]

loadPolygonFile()

loadPolygonFileOBJ() [1/2]

loadPolygonFileOBJ() [2/2]

loadPolygonFilePLY()

loadPolygonFileSTL()

loadPolygonFileVTK()

pointCloudTovtkPolyData() [1/2]

pointCloudTovtkPolyData() [2/2]

pointCloudTovtkStructuredGrid()

save() [1/4]

save() [2/4]

save() [3/4]

save() [4/4]

saveCharPNGFile()

saveIFSFile() [1/2]

saveIFSFile() [2/2]

saveOBJFile() [1/2]

saveOBJFile() [2/2]

savePCDFile() [1/3]

savePCDFile() [2/3]

savePCDFile() [3/3]

savePCDFileASCII()

savePCDFileBinary()

savePCDFileBinaryCompressed()

savePLYFile() [1/4]

savePLYFile() [2/4]

savePLYFile() [3/4]

savePLYFile() [4/4]

savePLYFileASCII()

savePLYFileBinary() [1/2]

savePLYFileBinary() [2/2]

savePNGFile() [1/4]

savePNGFile() [2/4]

savePNGFile() [3/4]

savePNGFile() [4/4]

savePolygonFile()

savePolygonFilePLY()

savePolygonFileSTL()

savePolygonFileVTK()

saveRangeImagePlanarFilePNG()

saveRgbPNGFile()

saveShortPNGFile()