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Detailed Description

Overview

The pcl_io library contains classes and functions for reading and writing point cloud data (PCD) 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:

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

file	io_operators.h

file	ply.h

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 PLY 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 templated PointCloud 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 templated PointCloud 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 53 of file auto_io.hpp.

References pcl::io::loadIFSFile(), 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().

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 621 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 636 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 650 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 templated PointCloud 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 749 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 templated PointCloud type.

Parameters

[in]	file_name	the name of the file to load
[in]	cloud	the resultant templated point cloud
[in]	origin	the sensor acquisition origin (only for > PLY_V7 - null if not present)
[in]	orientation	the sensor acquisition orientation if available, identity if not present

Definition at line 764 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 778 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 794 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

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

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

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

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

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

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 73 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 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

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

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 672 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 696 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 759 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 719 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 735 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 780 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 810 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 827 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 866 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 840 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 852 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()