Point Cloud Library (PCL)
1.14.1-dev
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Point Cloud Data (PLY) file format reader. More...
#include <pcl/io/ply_io.h>
Public Types | |
enum | { PLY_V0 = 0 , PLY_V1 = 1 } |
Public Member Functions | |
PLYReader () | |
PLYReader (const PLYReader &p) | |
PLYReader & | operator= (const PLYReader &p) |
~PLYReader () override | |
int | readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, int &data_type, unsigned int &data_idx, const int offset=0) override |
Read a point cloud data header from a PLY file. More... | |
int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, const int offset=0) override |
Read a point cloud data from a PLY 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 PLY file 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 PLY file, and convert it to the given template format. More... | |
int | read (const std::string &file_name, pcl::PolygonMesh &mesh, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &ply_version, const int offset=0) |
Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh. More... | |
int | read (const std::string &file_name, pcl::PolygonMesh &mesh, const int offset=0) |
Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh. 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... | |
Point Cloud Data (PLY) file format reader.
The PLY data format is organized in the following way: lines beginning with "comment" are treated as comments
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inline |
Read a point cloud data from a PLY file and store it into a pcl/PCLPointCloud2.
[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 166 of file ply_io.h.
References pcl::read().
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overridevirtual |
Read a point cloud data from a PLY file and store it into a pcl/PCLPointCloud2.
[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 data acquisition origin (translation) |
[out] | orientation | the sensor data acquisition origin (rotation) |
[out] | ply_version | the PLY version read from 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). |
Implements pcl::FileReader.
Referenced by pcl::io::loadPLYFile().
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inline |
Read a point cloud data from any PLY file, and convert it to the given template format.
[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 184 of file ply_io.h.
References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
int pcl::PLYReader::read | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh, | ||
const int | offset = 0 |
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Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh.
[in] | file_name | the name of the file containing the actual PointCloud data |
[out] | mesh | the resultant PolygonMesh 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). |
int pcl::PLYReader::read | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh, | ||
Eigen::Vector4f & | origin, | ||
Eigen::Quaternionf & | orientation, | ||
int & | ply_version, | ||
const int | offset = 0 |
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Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh.
[in] | file_name | the name of the file containing the actual PointCloud data |
[out] | mesh | the resultant PolygonMesh message read from disk |
[out] | origin | the sensor data acquisition origin (translation) |
[out] | orientation | the sensor data acquisition origin (rotation) |
[out] | ply_version | the PLY version read from 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). |
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overridevirtual |
Read a point cloud data header from a PLY file.
Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PLY file. Useful for fast evaluation of the underlying data structure.
Returns:
[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 data acquisition origin (translation) |
[out] | orientation | the sensor data acquisition origin (rotation) |
[out] | ply_version | the PLY version read from the file |
[out] | data_type | the type of PLY data stored in the file |
[out] | data_idx | the data index |
[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). |
Implements pcl::FileReader.