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

#include <pcl/io/pcd_io.h>

Inheritance diagram for pcl::PCDWriter:

Collaboration diagram for pcl::PCDWriter:

Public Member Functions
	PCDWriter ()=default

	~PCDWriter () override=default

void	setMapSynchronization (bool sync)
	Set whether mmap() synchornization via msync() is desired before munmap() calls. More...

std::string	generateHeaderBinary (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a PCD file format. More...

int	generateHeaderBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a BINARY_COMPRESSED PCD file format. More...

std::string	generateHeaderBinaryCompressed (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a BINARY_COMPRESSED PCD file format. More...

std::string	generateHeaderASCII (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
	Generate the header of a PCD file format. More...

int	writeASCII (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format. More...

int	writeBinary (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
	Save point cloud data to a PCD file containing n-D points, in BINARY format. More...

int	writeBinary (std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
	Save point cloud data to a std::ostream containing n-D points, in BINARY format. More...

int	writeBinaryCompressed (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
	Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format. More...

int	writeBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity())
	Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format. More...

int	write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false) override
	Save point cloud data to a PCD file containing n-D points. More...

int	write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false)
	Save point cloud data to a PCD file containing n-D points. More...

template<typename PointT >
int	writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud data to a PCD file containing n-D points, in BINARY format. More...

template<typename PointT >
int	writeBinaryCompressed (const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
	Save point cloud data to a binary comprssed PCD file. More...

template<typename PointT >
int	writeBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices)
	Save point cloud data to a PCD file containing n-D points, in BINARY format. More...

template<typename PointT >
int	writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format. More...

template<typename PointT >
int	writeASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices, const int precision=8)
	Save point cloud data to a PCD file containing n-D points, in ASCII format. More...

template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
	Save point cloud data to a PCD file containing n-D points. More...

template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const pcl::Indices &indices, bool binary=false)
	Save point cloud data to a PCD file containing n-D points. More...

Public Member Functions inherited from pcl::FileWriter
	FileWriter ()=default
	Empty constructor. More...

virtual	~FileWriter ()=default
	Empty destructor. More...

int	write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary=false)
	Save point cloud data to a FILE file containing n-D points. More...

template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const bool binary=false)
	Save point cloud data to a FILE file containing n-D points. More...

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

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

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

Detailed Description

Point Cloud Data (PCD) file format writer.

Author: Radu Bogdan Rusu

Definition at line 298 of file pcd_io.h.

Constructor & Destructor Documentation

◆ PCDWriter()

pcl::PCDWriter::PCDWriter ( )

default

◆ ~PCDWriter()

pcl::PCDWriter::~PCDWriter ( )

overridedefault

Member Function Documentation

◆ generateHeader()

template<typename PointT >

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

static

Generate the header of a PCD file format.

Parameters

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

Definition at line 57 of file pcd_io.hpp.

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

◆ generateHeaderASCII()

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

Generate the header of a PCD file format.

Parameters

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

◆ generateHeaderBinary()

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

Generate the header of a PCD file format.

Parameters

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

◆ generateHeaderBinaryCompressed() [1/2]

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

Generate the header of a BINARY_COMPRESSED PCD file format.

Parameters

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

◆ generateHeaderBinaryCompressed() [2/2]

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

Generate the header of a BINARY_COMPRESSED PCD file format.

Parameters

[out]	os	the stream into which to write the header
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Returns

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

◆ resetLockingPermissions()

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

protected

Reset permissions for file locking (Boost 1.49+).

Parameters

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

◆ setLockingPermissions()

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

protected

Set permissions for file locking (Boost 1.49+).

Parameters

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

◆ setMapSynchronization()

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

inline

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

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

Note: This option should be used by advanced users only!; Please note that using msync() on certain systems can reduce the I/O performance by up to 80%!

Parameters

[in] sync set to true if msync() should be called before munmap()

Definition at line 313 of file pcd_io.h.

◆ write() [1/4]

int pcl::PCDWriter::write	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud,
		const Eigen::Vector4f &	origin = `Eigen::Vector4f::Zero ()`,
		const Eigen::Quaternionf &	orientation = `Eigen::Quaternionf::Identity ()`,
		const bool	binary = `false`
	)

inlineoverridevirtual

Save point cloud data to a PCD file containing n-D points.

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

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

Implements pcl::FileWriter.

Definition at line 465 of file pcd_io.h.

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

◆ write() [2/4]

int pcl::PCDWriter::write	(	const std::string &	file_name,
		const pcl::PCLPointCloud2::ConstPtr &	cloud,
		const Eigen::Vector4f &	origin = `Eigen::Vector4f::Zero ()`,
		const Eigen::Quaternionf &	orientation = `Eigen::Quaternionf::Identity ()`,
		const bool	binary = `false`
	)

inline

Save point cloud data to a PCD file containing n-D points.

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud data message (boost shared pointer)
[in]	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 491 of file pcd_io.h.

References pcl::write().

◆ write() [3/4]

template<typename PointT >

int pcl::PCDWriter::write	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const bool	binary = `false`
	)

inline

Save point cloud data to a PCD file containing n-D points.

Parameters

[in]	file_name	the output file name
[in]	cloud	the pcl::PointCloud data
[in]	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 565 of file pcd_io.h.

◆ write() [4/4]

template<typename PointT >

int pcl::PCDWriter::write	(	const std::string &	file_name,
		const pcl::PointCloud< PointT > &	cloud,
		const pcl::Indices &	indices,
		bool	binary = `false`
	)

inline

Save point cloud data to a PCD file containing n-D points.

Parameters

[in]	file_name	the output file name
[in]	cloud	the pcl::PointCloud data
[in]	indices	the set of point indices that we want written to disk
[in]	binary	set to true if the file is to be written in a binary PCD format, false (default) for ASCII

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

Definition at line 589 of file pcd_io.h.

◆ writeASCII() [1/3]

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

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

Parameters

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

Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.

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

◆ writeASCII() [2/3]

template<typename PointT >

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

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

Parameters

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

Definition at line 439 of file pcd_io.hpp.

References pcl::PCLPointField::BOOL, pcl::PointCloud< PointT >::empty(), pcl::PCLPointField::FLOAT32, pcl::PCLPointField::FLOAT64, pcl::PointCloud< PointT >::height, pcl::PCLPointField::INT16, pcl::PCLPointField::INT32, pcl::PCLPointField::INT64, pcl::PCLPointField::INT8, pcl::PointCloud< PointT >::size(), pcl::PCLPointField::UINT16, pcl::PCLPointField::UINT32, pcl::PCLPointField::UINT64, pcl::PCLPointField::UINT8, and pcl::PointCloud< PointT >::width.

◆ writeASCII() [3/3]

template<typename PointT >

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

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

Parameters

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

Definition at line 733 of file pcd_io.hpp.

References pcl::PCLPointField::BOOL, pcl::PointCloud< PointT >::empty(), pcl::PCLPointField::FLOAT32, pcl::PCLPointField::FLOAT64, pcl::PointCloud< PointT >::height, pcl::PCLPointField::INT16, pcl::PCLPointField::INT32, pcl::PCLPointField::INT64, pcl::PCLPointField::INT8, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::size(), pcl::PCLPointField::UINT16, pcl::PCLPointField::UINT32, pcl::PCLPointField::UINT64, pcl::PCLPointField::UINT8, and pcl::PointCloud< PointT >::width.

◆ writeBinary() [1/4]

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

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

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

◆ writeBinary() [2/4]

template<typename PointT >

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

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

Parameters

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

Definition at line 111 of file pcd_io.hpp.

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

◆ writeBinary() [3/4]

template<typename PointT >

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

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

Parameters

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

Definition at line 610 of file pcd_io.hpp.

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

◆ writeBinary() [4/4]

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

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

Parameters

[out]	os	the stream into which to write the data
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

◆ writeBinaryCompressed() [1/3]

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

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

Parameters

[in]	file_name	the output file name
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

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

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

◆ writeBinaryCompressed() [2/3]

template<typename PointT >

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

Save point cloud data to a binary comprssed PCD file.

Parameters

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

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

Definition at line 241 of file pcd_io.hpp.

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

◆ writeBinaryCompressed() [3/3]

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

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

Parameters

[out]	os	the stream into which to write the data
[in]	cloud	the point cloud data message
[in]	origin	the sensor acquisition origin
[in]	orientation	the sensor acquisition orientation

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

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

pcl/io/pcd_io.h
pcl/io/impl/pcd_io.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PCDWriter()

◆ ~PCDWriter()

Member Function Documentation

◆ generateHeader()

◆ generateHeaderASCII()

◆ generateHeaderBinary()

◆ generateHeaderBinaryCompressed() [1/2]

◆ generateHeaderBinaryCompressed() [2/2]

◆ resetLockingPermissions()

◆ setLockingPermissions()

◆ setMapSynchronization()

◆ write() [1/4]

◆ write() [2/4]

◆ write() [3/4]

◆ write() [4/4]

◆ writeASCII() [1/3]

◆ writeASCII() [2/3]

◆ writeASCII() [3/3]

◆ writeBinary() [1/4]

◆ writeBinary() [2/4]

◆ writeBinary() [3/4]

◆ writeBinary() [4/4]

◆ writeBinaryCompressed() [1/3]

◆ writeBinaryCompressed() [2/3]

◆ writeBinaryCompressed() [3/3]