Point Cloud Data (FILE) file format reader interface. More...
#include <pcl/io/file_io.h>
Inheritance diagram for pcl::FileReader:
Public Member Functions | |
| FileReader ()=default | |
| empty constructor More... | |
| virtual | ~FileReader ()=default |
| empty destructor More... | |
| virtual int | readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, unsigned int &data_idx, const int offset=0)=0 |
| Read a point cloud data header from a FILE file. More... | |
| virtual int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)=0 |
| Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2. More... | |
| int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2. More... | |
| template<typename PointT > | |
| int | read (const std::string &file_name, pcl::PointCloud< PointT > &cloud, const int offset=0) |
| Read a point cloud data from any FILE file, and convert it to the given template format. More... | |
Detailed Description
Point Cloud Data (FILE) file format reader interface.
Any (FILE) format file reader should implement its virtual methods.
Constructor & Destructor Documentation
◆ FileReader()
|
default |
empty constructor
◆ ~FileReader()
|
virtualdefault |
empty destructor
Member Function Documentation
◆ read() [1/3]
|
inline |
Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
- Note
- This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file
FILE_V6 will generate a warning.
- Parameters
-
[in] file_name the name of the file containing the actual PointCloud data [out] cloud the resultant PointCloud message read from disk [in] offset the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).
Definition at line 124 of file file_io.h.
References pcl::read().
◆ read() [2/3]
|
pure virtual |
Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
- Parameters
-
[in] file_name the name of the file containing the actual PointCloud data [out] cloud the resultant PointCloud message read from disk [out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present) [out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present) [out] file_version the FILE version of the file (either FILE_V6 or FILE_V7) [in] offset the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).
Implemented in pcl::PLYReader, pcl::PCDReader, pcl::OBJReader, and pcl::ASCIIReader.
◆ read() [3/3]
template<typename PointT >
|
inline |
Read a point cloud data from any FILE file, and convert it to the given template format.
- Parameters
-
[in] file_name the name of the file containing the actual PointCloud data [out] cloud the resultant PointCloud message read from disk [in] offset the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).
Definition at line 142 of file file_io.h.
References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
◆ readHeader()
|
pure virtual |
Read a point cloud data header from a FILE file.
Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.
Returns:
- < 0 (-1) on error
- > 0 on success
- Parameters
-
[in] file_name the name of the file to load [out] cloud the resultant point cloud dataset (only the header will be filled) [out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present) [out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present) [out] file_version the FILE version of the file (either FILE_V6 or FILE_V7) [out] data_type the type of data (binary data=1, ascii=0, etc) [out] data_idx the offset of cloud data within the file [in] offset the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).
Implemented in pcl::PLYReader, pcl::PCDReader, pcl::ASCIIReader, and pcl::OBJReader.
The documentation for this class was generated from the following file:
- pcl/io/file_io.h