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

#include <pcl/io/pcd_io.h>

Inheritance diagram for pcl::PCDReader:

Collaboration diagram for pcl::PCDReader:

Public Types
enum	{ PCD_V6 = 0 , PCD_V7 = 1 }
	Various PCD file versions. More...

Public Member Functions
	PCDReader ()=default
	Empty constructor. More...

	~PCDReader () override=default
	Empty destructor. More...

int	readHeader (std::istream &binary_istream, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, unsigned int &data_idx)
	Read a point cloud data header from a PCD-formatted, binary istream. More...

int	readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, int &data_type, unsigned int &data_idx, const int offset=0) override
	Read a point cloud data header from a PCD file. More...

int	readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0)
	Read a point cloud data header from a PCD file. More...

int	readBodyASCII (std::istream &stream, pcl::PCLPointCloud2 &cloud, int pcd_version)
	Read the point cloud data (body) from a PCD stream. More...

int	readBodyBinary (const unsigned char *data, pcl::PCLPointCloud2 &cloud, int pcd_version, bool compressed, unsigned int data_idx)
	Read the point cloud data (body) from a block of memory. More...

int	read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset=0) override
	Read a point cloud data from a PCD 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 PCD (PCD_V6) 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 PCD file, and convert it to the given template format. More...

Public Member Functions inherited from pcl::FileReader
	FileReader ()=default
	empty constructor More...

virtual	~FileReader ()=default
	empty destructor 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 (PCD) file format reader.

Author: Radu B. Rusu

Definition at line 54 of file pcd_io.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Various PCD file versions.

PCD_V6 represents PCD files with version 0.6, which contain the following fields:

lines beginning with # are treated as comments
FIELDS ...
SIZE ...
TYPE ...
COUNT ...
WIDTH ...
HEIGHT ...
POINTS ...
DATA ascii/binary

Everything that follows DATA is interpreted as data points and will be read accordingly.

PCD_V7 represents PCD files with version 0.7 and has an important addon: it adds sensor origin/orientation (aka viewpoint) information to a dataset through the use of a new header field:

VIEWPOINT tx ty tz qw qx qy qz

Enumerator
PCD_V6
PCD_V7

Definition at line 83 of file pcd_io.h.

Constructor & Destructor Documentation

◆ PCDReader()

pcl::PCDReader::PCDReader ( )

default

Empty constructor.

◆ ~PCDReader()

pcl::PCDReader::~PCDReader ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ read() [1/3]

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

Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.

Note: This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file

PCD_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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

< 0 (-1) on error
== 0 on success

◆ read() [2/3]

int pcl::PCDReader::read	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version,
		const int	offset = `0`
	)

overridevirtual

Read a point cloud data from a PCD 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 > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

< 0 (-1) on error
== 0 on success

Implements pcl::FileReader.

Referenced by pcl::gpu::DataSource::DataSource(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange(), pcl::io::loadPCDFile(), pcl::LineRGBD< PointXYZT, PointRGBT >::loadTemplates(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange().

◆ read() [3/3]

template<typename PointT >

int pcl::PCDReader::read	(	const std::string &	file_name,
		pcl::PointCloud< PointT > &	cloud,
		const int	offset = `0`
	)

inline

Read a point cloud data from any PCD 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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

< 0 (-1) on error
== 0 on success

Definition at line 277 of file pcd_io.h.

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

◆ readBodyASCII()

int pcl::PCDReader::readBodyASCII	(	std::istream &	stream,
		pcl::PCLPointCloud2 &	cloud,
		int	pcd_version
	)

Read the point cloud data (body) from a PCD stream.

Reads the cloud points from a text-formatted stream. For use after readHeader(), when the resulting data_type == 0.

Attention: This assumes the stream has been seeked to the position indicated by the data_idx result of readHeader().

Parameters

[in]	stream	the stream from which to read the body.
[out]	cloud	the resultant point cloud dataset to be filled.
[in]	pcd_version	the PCD version of the stream (from readHeader()).

Returns

< 0 (-1) on error
== 0 on success

◆ readBodyBinary()

int pcl::PCDReader::readBodyBinary	(	const unsigned char *	data,
		pcl::PCLPointCloud2 &	cloud,
		int	pcd_version,
		bool	compressed,
		unsigned int	data_idx
	)

Read the point cloud data (body) from a block of memory.

Reads the cloud points from a binary-formatted memory block. For use after readHeader(), when the resulting data_type is nonzero.

Parameters

[in]	data	the memory location from which to read the body.
[out]	cloud	the resultant point cloud dataset to be filled.
[in]	pcd_version	the PCD version of the stream (from readHeader()).
[in]	compressed	indicates whether the PCD block contains compressed data. This should be true if the data_type returned by readHeader() == 2.
[in]	data_idx	the offset of the body, as reported by readHeader().

Returns

< 0 (-1) on error
== 0 on success

◆ readHeader() [1/3]

int pcl::PCDReader::readHeader	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		const int	offset = `0`
	)

Read a point cloud data header from a PCD file.

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

Attention: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

< 0 (-1) on error
== 0 on success

◆ readHeader() [2/3]

int pcl::PCDReader::readHeader	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version,
		int &	data_type,
		unsigned int &	data_idx,
		const int	offset = `0`
	)

overridevirtual

Read a point cloud data header from a PCD file.

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

Attention: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[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)
[out]	pcd_version	the PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

< 0 (-1) on error
== 0 on success

Implements pcl::FileReader.

◆ readHeader() [3/3]

int pcl::PCDReader::readHeader	(	std::istream &	binary_istream,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	pcd_version,
		int &	data_type,
		unsigned int &	data_idx
	)

Read a point cloud data header from a PCD-formatted, binary istream.

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

Attention: The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	binary_istream	a std::istream with openmode set to std::ios::binary.
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[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)
[out]	pcd_version	the PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file

Returns

< 0 (-1) on error
== 0 on success

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().

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

pcl/io/pcd_io.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ PCDReader()

◆ ~PCDReader()

Member Function Documentation

◆ read() [1/3]

◆ read() [2/3]

◆ read() [3/3]

◆ readBodyASCII()

◆ readBodyBinary()

◆ readHeader() [1/3]

◆ readHeader() [2/3]

◆ readHeader() [3/3]