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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYWriter:

Collaboration diagram for pcl::PLYWriter:

Public Member Functions
	PLYWriter ()=default
	Constructor. More...

	~PLYWriter () override=default
	Destructor. More...

std::string	generateHeaderBinary (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
	Generate the header of a PLY v.7 file format. More...

std::string	generateHeaderASCII (const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, int valid_points, bool use_camera=true)
	Generate the header of a PLY v.7 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(), int precision=8, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points, in ASCII 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(), bool use_camera=true)
	Save point cloud data to a std::ostream containing n-D points, in BINARY 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(), bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points, in BINARY 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 PLY file containing n-D points. 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(), bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY 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(), bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points. More...

template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY 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...

Detailed Description

Point Cloud Data (PLY) file format writer.

Author: Nizar Sallem

Definition at line 532 of file ply_io.h.

Constructor & Destructor Documentation

◆ PLYWriter()

pcl::PLYWriter::PLYWriter ( )

default

Constructor.

◆ ~PLYWriter()

pcl::PLYWriter::~PLYWriter ( )

overridedefault

Destructor.

Member Function Documentation

◆ generateHeaderASCII()

std::string pcl::PLYWriter::generateHeaderASCII	(	const pcl::PCLPointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		int	valid_points,
		bool	use_camera = `true`
	)

inline

Generate the header of a PLY v.7 file format.

Parameters

[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 570 of file ply_io.h.

◆ generateHeaderBinary()

std::string pcl::PLYWriter::generateHeaderBinary	(	const pcl::PCLPointCloud2 &	cloud,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		int	valid_points,
		bool	use_camera = `true`
	)

inline

Generate the header of a PLY v.7 file format.

Parameters

[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	valid_points	number of valid points (finite ones for range_grid and all of them for camer)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

Definition at line 551 of file ply_io.h.

◆ write() [1/4]

int pcl::PLYWriter::write	(	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 = `false`,
		bool	use_camera = `true`
	)

inline

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 acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
[in]	use_camera	set to true to use camera element and false to use range_grid element

Definition at line 651 of file ply_io.h.

◆ write() [2/4]

int pcl::PLYWriter::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 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 acquisition origin
[in]	orientation	the sensor acquisition orientation
[in]	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII

Implements pcl::FileWriter.

Definition at line 630 of file ply_io.h.

Referenced by pcl::io::savePLYFile(), pcl::io::savePLYFileASCII(), and pcl::io::savePLYFileBinary().

◆ write() [3/4]

int pcl::PLYWriter::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 ()`,
		bool	binary = `false`,
		bool	use_camera = `true`
	)

inline

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 (boost shared pointer)
[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 PLY format, false (default) for ASCII
[in]	use_camera	set to true to use camera element and false to use range_grid element

Definition at line 673 of file ply_io.h.

References pcl::write().

◆ write() [4/4]

template<typename PointT >

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

inline

Save point cloud data to a PLY 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 PLY format, false (default) for ASCII
[in]	use_camera	set to true to use camera element and false to use range_grid element

Definition at line 691 of file ply_io.h.

References pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::toPCLPointCloud2(), and pcl::write().

◆ writeASCII()

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

Save point cloud data to a PLY 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 data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	precision	the specified output numeric stream precision (default: 8)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used.

◆ writeBinary() [1/2]

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

Save point cloud data to a PLY 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 data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used

◆ writeBinary() [2/2]

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

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

Parameters

[in]	os	the output buffer
[in]	cloud	the point cloud data message
[in]	origin	the sensor data acquisition origin (translation)
[in]	orientation	the sensor data acquisition origin (rotation)
[in]	use_camera	if set to true then PLY file will use element camera else element range_grid will be used

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

pcl/io/ply_io.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PLYWriter()

◆ ~PLYWriter()

Member Function Documentation

◆ generateHeaderASCII()

◆ generateHeaderBinary()

◆ write() [1/4]

◆ write() [2/4]

◆ write() [3/4]

◆ write() [4/4]

◆ writeASCII()

◆ writeBinary() [1/2]

◆ writeBinary() [2/2]