Point Cloud Library (PCL)  1.13.0-dev
pcd_io.h
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/io/file_io.h>
46 #include <boost/interprocess/sync/file_lock.hpp> // for file_lock
47 
48 namespace pcl
49 {
50  /** \brief Point Cloud Data (PCD) file format reader.
51  * \author Radu B. Rusu
52  * \ingroup io
53  */
55  {
56  public:
57  /** Empty constructor */
58  PCDReader () = default;
59  /** Empty destructor */
60  ~PCDReader () override = default;
61 
62  /** \brief Various PCD file versions.
63  *
64  * PCD_V6 represents PCD files with version 0.6, which contain the following fields:
65  * - lines beginning with # are treated as comments
66  * - FIELDS ...
67  * - SIZE ...
68  * - TYPE ...
69  * - COUNT ...
70  * - WIDTH ...
71  * - HEIGHT ...
72  * - POINTS ...
73  * - DATA ascii/binary
74  *
75  * Everything that follows \b DATA is interpreted as data points and
76  * will be read accordingly.
77  *
78  * PCD_V7 represents PCD files with version 0.7 and has an important
79  * addon: it adds sensor origin/orientation (aka viewpoint) information
80  * to a dataset through the use of a new header field:
81  * - VIEWPOINT tx ty tz qw qx qy qz
82  */
83  enum
84  {
85  PCD_V6 = 0,
86  PCD_V7 = 1
87  };
88 
89  /** \brief Read a point cloud data header from a PCD-formatted, binary istream.
90  *
91  * Load only the meta information (number of points, their types, etc),
92  * and not the points themselves, from a given PCD stream. Useful for fast
93  * evaluation of the underlying data structure.
94  *
95  * \attention The PCD data is \b always stored in ROW major format! The
96  * read/write PCD methods will detect column major input and automatically convert it.
97  *
98  * \param[in] binary_istream a std::istream with openmode set to std::ios::binary.
99  * \param[out] cloud the resultant point cloud dataset (only these
100  * members will be filled: width, height, point_step,
101  * row_step, fields[]; data is resized but not written)
102  * \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
103  * \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
104  * \param[out] pcd_version the PCD version of the file (i.e., PCD_V6, PCD_V7)
105  * \param[out] data_type the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
106  * \param[out] data_idx the offset of cloud data within the file
107  *
108  * \return
109  * * < 0 (-1) on error
110  * * == 0 on success
111  */
112  int
113  readHeader (std::istream &binary_istream, pcl::PCLPointCloud2 &cloud,
114  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version,
115  int &data_type, unsigned int &data_idx);
116 
117  /** \brief Read a point cloud data header from a PCD file.
118  *
119  * Load only the meta information (number of points, their types, etc),
120  * and not the points themselves, from a given PCD file. Useful for fast
121  * evaluation of the underlying data structure.
122  *
123  * \attention The PCD data is \b always stored in ROW major format! The
124  * read/write PCD methods will detect column major input and automatically convert it.
125  *
126  * \param[in] file_name the name of the file to load
127  * \param[out] cloud the resultant point cloud dataset (only these
128  * members will be filled: width, height, point_step,
129  * row_step, fields[]; data is resized but not written)
130  * \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
131  * \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
132  * \param[out] pcd_version the PCD version of the file (i.e., PCD_V6, PCD_V7)
133  * \param[out] data_type the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
134  * \param[out] data_idx the offset of cloud data within the file
135  * \param[in] offset the offset of where to expect the PCD Header in the
136  * file (optional parameter). One usage example for setting the offset
137  * parameter is for reading data from a TAR "archive containing multiple
138  * PCD files: TAR files always add a 512 byte header in front of the
139  * actual file, so set the offset to the next byte after the header
140  * (e.g., 513).
141  *
142  * \return
143  * * < 0 (-1) on error
144  * * == 0 on success
145  */
146  int
147  readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
148  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version,
149  int &data_type, unsigned int &data_idx, const int offset = 0) override;
150 
151 
152  /** \brief Read a point cloud data header from a PCD file.
153  *
154  * Load only the meta information (number of points, their types, etc),
155  * and not the points themselves, from a given PCD file. Useful for fast
156  * evaluation of the underlying data structure.
157  *
158  * \attention The PCD data is \b always stored in ROW major format! The
159  * read/write PCD methods will detect column major input and automatically convert it.
160  *
161  * \param[in] file_name the name of the file to load
162  * \param[out] cloud the resultant point cloud dataset (only these
163  * members will be filled: width, height, point_step,
164  * row_step, fields[]; data is resized but not written)
165  * \param[in] offset the offset of where to expect the PCD Header in the
166  * file (optional parameter). One usage example for setting the offset
167  * parameter is for reading data from a TAR "archive containing multiple
168  * PCD files: TAR files always add a 512 byte header in front of the
169  * actual file, so set the offset to the next byte after the header
170  * (e.g., 513).
171  *
172  * \return
173  * * < 0 (-1) on error
174  * * == 0 on success
175  */
176  int
177  readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0);
178 
179  /** \brief Read the point cloud data (body) from a PCD stream.
180  *
181  * Reads the cloud points from a text-formatted stream. For use after
182  * readHeader(), when the resulting data_type == 0.
183  *
184  * \attention This assumes the stream has been seeked to the position
185  * indicated by the data_idx result of readHeader().
186  *
187  * \param[in] stream the stream from which to read the body.
188  * \param[out] cloud the resultant point cloud dataset to be filled.
189  * \param[in] pcd_version the PCD version of the stream (from readHeader()).
190  *
191  * \return
192  * * < 0 (-1) on error
193  * * == 0 on success
194  */
195  int
196  readBodyASCII (std::istream &stream, pcl::PCLPointCloud2 &cloud, int pcd_version);
197 
198  /** \brief Read the point cloud data (body) from a block of memory.
199  *
200  * Reads the cloud points from a binary-formatted memory block. For use
201  * after readHeader(), when the resulting data_type is nonzero.
202  *
203  * \param[in] data the memory location from which to read the body.
204  * \param[out] cloud the resultant point cloud dataset to be filled.
205  * \param[in] pcd_version the PCD version of the stream (from readHeader()).
206  * \param[in] compressed indicates whether the PCD block contains compressed
207  * data. This should be true if the data_type returned by readHeader() == 2.
208  * \param[in] data_idx the offset of the body, as reported by readHeader().
209  *
210  * \return
211  * * < 0 (-1) on error
212  * * == 0 on success
213  */
214  int
215  readBodyBinary (const unsigned char *data, pcl::PCLPointCloud2 &cloud,
216  int pcd_version, bool compressed, unsigned int data_idx);
217 
218  /** \brief Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.
219  * \param[in] file_name the name of the file containing the actual PointCloud data
220  * \param[out] cloud the resultant PointCloud message read from disk
221  * \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
222  * \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
223  * \param[out] pcd_version the PCD version of the file (either PCD_V6 or PCD_V7)
224  * \param[in] offset the offset of where to expect the PCD Header in the
225  * file (optional parameter). One usage example for setting the offset
226  * parameter is for reading data from a TAR "archive containing multiple
227  * PCD files: TAR files always add a 512 byte header in front of the
228  * actual file, so set the offset to the next byte after the header
229  * (e.g., 513).
230  *
231  * \return
232  * * < 0 (-1) on error
233  * * == 0 on success
234  */
235  int
236  read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
237  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset = 0) override;
238 
239  /** \brief Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.
240  *
241  * \note This function is provided for backwards compatibility only and
242  * it can only read PCD_V6 files correctly, as pcl::PCLPointCloud2
243  * does not contain a sensor origin/orientation. Reading any file
244  * > PCD_V6 will generate a warning.
245  *
246  * \param[in] file_name the name of the file containing the actual PointCloud data
247  * \param[out] cloud the resultant PointCloud message read from disk
248  * \param[in] offset the offset of where to expect the PCD Header in the
249  * file (optional parameter). One usage example for setting the offset
250  * parameter is for reading data from a TAR "archive containing multiple
251  * PCD files: TAR files always add a 512 byte header in front of the
252  * actual file, so set the offset to the next byte after the header
253  * (e.g., 513).
254  *
255  * \return
256  * * < 0 (-1) on error
257  * * == 0 on success
258  */
259  int
260  read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0);
261 
262  /** \brief Read a point cloud data from any PCD file, and convert it to the given template format.
263  * \param[in] file_name the name of the file containing the actual PointCloud data
264  * \param[out] cloud the resultant PointCloud message read from disk
265  * \param[in] offset the offset of where to expect the PCD Header in the
266  * file (optional parameter). One usage example for setting the offset
267  * parameter is for reading data from a TAR "archive containing multiple
268  * PCD files: TAR files always add a 512 byte header in front of the
269  * actual file, so set the offset to the next byte after the header
270  * (e.g., 513).
271  *
272  * \return
273  * * < 0 (-1) on error
274  * * == 0 on success
275  */
276  template<typename PointT> int
277  read (const std::string &file_name, pcl::PointCloud<PointT> &cloud, const int offset = 0)
278  {
279  pcl::PCLPointCloud2 blob;
280  int pcd_version;
281  int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
282  pcd_version, offset);
283 
284  // If no error, convert the data
285  if (res == 0)
286  pcl::fromPCLPointCloud2 (blob, cloud);
287  return (res);
288  }
289 
291  };
292 
293  /** \brief Point Cloud Data (PCD) file format writer.
294  * \author Radu Bogdan Rusu
295  * \ingroup io
296  */
298  {
299  public:
300  PCDWriter() : map_synchronization_(false) {}
301  ~PCDWriter() override = default;
302 
303  /** \brief Set whether mmap() synchornization via msync() is desired before munmap() calls.
304  * Setting this to true could prevent NFS data loss (see
305  * http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html).
306  * Default: false
307  * \note This option should be used by advanced users only!
308  * \note Please note that using msync() on certain systems can reduce the I/O performance by up to 80%!
309  * \param[in] sync set to true if msync() should be called before munmap()
310  */
311  void
313  {
314  map_synchronization_ = sync;
315  }
316 
317  /** \brief Generate the header of a PCD file format
318  * \param[in] cloud the point cloud data message
319  * \param[in] origin the sensor acquisition origin
320  * \param[in] orientation the sensor acquisition orientation
321  */
322  std::string
324  const Eigen::Vector4f &origin,
325  const Eigen::Quaternionf &orientation);
326 
327  /** \brief Generate the header of a BINARY_COMPRESSED PCD file format
328  * \param[out] os the stream into which to write the header
329  * \param[in] cloud the point cloud data message
330  * \param[in] origin the sensor acquisition origin
331  * \param[in] orientation the sensor acquisition orientation
332  *
333  * \return
334  * * < 0 (-1) on error
335  * * == 0 on success
336  */
337  int
339  const pcl::PCLPointCloud2 &cloud,
340  const Eigen::Vector4f &origin,
341  const Eigen::Quaternionf &orientation);
342 
343  /** \brief Generate the header of a BINARY_COMPRESSED PCD file format
344  * \param[in] cloud the point cloud data message
345  * \param[in] origin the sensor acquisition origin
346  * \param[in] orientation the sensor acquisition orientation
347  */
348  std::string
350  const Eigen::Vector4f &origin,
351  const Eigen::Quaternionf &orientation);
352 
353  /** \brief Generate the header of a PCD file format
354  * \param[in] cloud the point cloud data message
355  * \param[in] origin the sensor acquisition origin
356  * \param[in] orientation the sensor acquisition orientation
357  */
358  std::string
360  const Eigen::Vector4f &origin,
361  const Eigen::Quaternionf &orientation);
362 
363  /** \brief Generate the header of a PCD file format
364  * \param[in] cloud the point cloud data message
365  * \param[in] nr_points if given, use this to fill in WIDTH, HEIGHT (=1), and POINTS in the header
366  * By default, nr_points is set to INTMAX, and the data in the header is used instead.
367  */
368  template <typename PointT> static std::string
369  generateHeader (const pcl::PointCloud<PointT> &cloud,
370  const int nr_points = std::numeric_limits<int>::max ());
371 
372  /** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
373  * \param[in] file_name the output file name
374  * \param[in] cloud the point cloud data message
375  * \param[in] origin the sensor acquisition origin
376  * \param[in] orientation the sensor acquisition orientation
377  * \param[in] precision the specified output numeric stream precision (default: 8)
378  *
379  * Caution: PointCloud structures containing an RGB field have
380  * traditionally used packed float values to store RGB data. Storing a
381  * float as ASCII can introduce variations to the smallest bits, and
382  * thus significantly alter the data. This is a known issue, and the fix
383  * involves switching RGB data to be stored as a packed integer in
384  * future versions of PCL.
385  *
386  * As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.
387  */
388  int
389  writeASCII (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
390  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
391  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
392  const int precision = 8);
393 
394  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
395  * \param[in] file_name the output file name
396  * \param[in] cloud the point cloud data message
397  * \param[in] origin the sensor acquisition origin
398  * \param[in] orientation the sensor acquisition orientation
399  */
400  int
401  writeBinary (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
402  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
403  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
404 
405  /** \brief Save point cloud data to a std::ostream containing n-D points, in BINARY format
406  * \param[out] os the stream into which to write the data
407  * \param[in] cloud the point cloud data message
408  * \param[in] origin the sensor acquisition origin
409  * \param[in] orientation the sensor acquisition orientation
410  */
411  int
412  writeBinary (std::ostream &os, const pcl::PCLPointCloud2 &cloud,
413  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
414  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
415 
416  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format
417  * \param[in] file_name the output file name
418  * \param[in] cloud the point cloud data message
419  * \param[in] origin the sensor acquisition origin
420  * \param[in] orientation the sensor acquisition orientation
421  * \return
422  * (-1) for a general error
423  * (-2) if the input cloud is too large for the file format
424  * 0 on success
425  */
426  int
427  writeBinaryCompressed (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
428  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
429  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
430 
431  /** \brief Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format
432  * \param[out] os the stream into which to write the data
433  * \param[in] cloud the point cloud data message
434  * \param[in] origin the sensor acquisition origin
435  * \param[in] orientation the sensor acquisition orientation
436  * \return
437  * (-1) for a general error
438  * (-2) if the input cloud is too large for the file format
439  * 0 on success
440  */
441  int
442  writeBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud,
443  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
444  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
445 
446  /** \brief Save point cloud data to a PCD file containing n-D points
447  * \param[in] file_name the output file name
448  * \param[in] cloud the point cloud data message
449  * \param[in] origin the sensor acquisition origin
450  * \param[in] orientation the sensor acquisition orientation
451  * \param[in] binary set to true if the file is to be written in a binary
452  * PCD format, false (default) for ASCII
453  *
454  * Caution: PointCloud structures containing an RGB field have
455  * traditionally used packed float values to store RGB data. Storing a
456  * float as ASCII can introduce variations to the smallest bits, and
457  * thus significantly alter the data. This is a known issue, and the fix
458  * involves switching RGB data to be stored as a packed integer in
459  * future versions of PCL.
460  *
461  * As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.
462  */
463  inline int
464  write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
465  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
466  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
467  const bool binary = false) override
468  {
469  if (binary)
470  return (writeBinary (file_name, cloud, origin, orientation));
471  return (writeASCII (file_name, cloud, origin, orientation, 8));
472  }
473 
474  /** \brief Save point cloud data to a PCD file containing n-D points
475  * \param[in] file_name the output file name
476  * \param[in] cloud the point cloud data message (boost shared pointer)
477  * \param[in] binary set to true if the file is to be written in a binary PCD format,
478  * false (default) for ASCII
479  * \param[in] origin the sensor acquisition origin
480  * \param[in] orientation the sensor acquisition orientation
481  *
482  * Caution: PointCloud structures containing an RGB field have
483  * traditionally used packed float values to store RGB data. Storing a
484  * float as ASCII can introduce variations to the smallest bits, and
485  * thus significantly alter the data. This is a known issue, and the fix
486  * involves switching RGB data to be stored as a packed integer in
487  * future versions of PCL.
488  */
489  inline int
490  write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud,
491  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
492  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
493  const bool binary = false)
494  {
495  return (write (file_name, *cloud, origin, orientation, binary));
496  }
497 
498  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
499  * \param[in] file_name the output file name
500  * \param[in] cloud the point cloud data message
501  */
502  template <typename PointT> int
503  writeBinary (const std::string &file_name,
504  const pcl::PointCloud<PointT> &cloud);
505 
506  /** \brief Save point cloud data to a binary comprssed PCD file
507  * \param[in] file_name the output file name
508  * \param[in] cloud the point cloud data message
509  * \return
510  * (-1) for a general error
511  * (-2) if the input cloud is too large for the file format
512  * 0 on success
513  */
514  template <typename PointT> int
515  writeBinaryCompressed (const std::string &file_name,
516  const pcl::PointCloud<PointT> &cloud);
517 
518  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
519  * \param[in] file_name the output file name
520  * \param[in] cloud the point cloud data message
521  * \param[in] indices the set of point indices that we want written to disk
522  */
523  template <typename PointT> int
524  writeBinary (const std::string &file_name,
525  const pcl::PointCloud<PointT> &cloud,
526  const pcl::Indices &indices);
527 
528  /** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
529  * \param[in] file_name the output file name
530  * \param[in] cloud the point cloud data message
531  * \param[in] precision the specified output numeric stream precision (default: 8)
532  */
533  template <typename PointT> int
534  writeASCII (const std::string &file_name,
535  const pcl::PointCloud<PointT> &cloud,
536  const int precision = 8);
537 
538  /** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
539  * \param[in] file_name the output file name
540  * \param[in] cloud the point cloud data message
541  * \param[in] indices the set of point indices that we want written to disk
542  * \param[in] precision the specified output numeric stream precision (default: 8)
543  */
544  template <typename PointT> int
545  writeASCII (const std::string &file_name,
546  const pcl::PointCloud<PointT> &cloud,
547  const pcl::Indices &indices,
548  const int precision = 8);
549 
550  /** \brief Save point cloud data to a PCD file containing n-D points
551  * \param[in] file_name the output file name
552  * \param[in] cloud the pcl::PointCloud data
553  * \param[in] binary set to true if the file is to be written in a binary
554  * PCD format, false (default) for ASCII
555  *
556  * Caution: PointCloud structures containing an RGB field have
557  * traditionally used packed float values to store RGB data. Storing a
558  * float as ASCII can introduce variations to the smallest bits, and
559  * thus significantly alter the data. This is a known issue, and the fix
560  * involves switching RGB data to be stored as a packed integer in
561  * future versions of PCL.
562  */
563  template<typename PointT> inline int
564  write (const std::string &file_name,
565  const pcl::PointCloud<PointT> &cloud,
566  const bool binary = false)
567  {
568  if (binary)
569  return (writeBinary<PointT> (file_name, cloud));
570  return (writeASCII<PointT> (file_name, cloud));
571  }
572 
573  /** \brief Save point cloud data to a PCD file containing n-D points
574  * \param[in] file_name the output file name
575  * \param[in] cloud the pcl::PointCloud data
576  * \param[in] indices the set of point indices that we want written to disk
577  * \param[in] binary set to true if the file is to be written in a binary
578  * PCD format, false (default) for ASCII
579  *
580  * Caution: PointCloud structures containing an RGB field have
581  * traditionally used packed float values to store RGB data. Storing a
582  * float as ASCII can introduce variations to the smallest bits, and
583  * thus significantly alter the data. This is a known issue, and the fix
584  * involves switching RGB data to be stored as a packed integer in
585  * future versions of PCL.
586  */
587  template<typename PointT> inline int
588  write (const std::string &file_name,
589  const pcl::PointCloud<PointT> &cloud,
590  const pcl::Indices &indices,
591  bool binary = false)
592  {
593  if (binary)
594  return (writeBinary<PointT> (file_name, cloud, indices));
595  return (writeASCII<PointT> (file_name, cloud, indices));
596  }
597 
598  protected:
599  /** \brief Set permissions for file locking (Boost 1.49+).
600  * \param[in] file_name the file name to set permission for file locking
601  * \param[in,out] lock the file lock
602  */
603  void
604  setLockingPermissions (const std::string &file_name,
605  boost::interprocess::file_lock &lock);
606 
607  /** \brief Reset permissions for file locking (Boost 1.49+).
608  * \param[in] file_name the file name to reset permission for file locking
609  * \param[in,out] lock the file lock
610  */
611  void
612  resetLockingPermissions (const std::string &file_name,
613  boost::interprocess::file_lock &lock);
614 
615  private:
616  /** \brief Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems. */
617  bool map_synchronization_;
618  };
619 
620  namespace io
621  {
622  /** \brief Load a PCD v.6 file into a templated PointCloud type.
623  *
624  * Any PCD files > v.6 will generate a warning as a
625  * pcl/PCLPointCloud2 message cannot hold the sensor origin.
626  *
627  * \param[in] file_name the name of the file to load
628  * \param[out] cloud the resultant templated point cloud
629  * \ingroup io
630  */
631  inline int
632  loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
633  {
634  pcl::PCDReader p;
635  return (p.read (file_name, cloud));
636  }
637 
638  /** \brief Load any PCD file into a templated PointCloud type.
639  * \param[in] file_name the name of the file to load
640  * \param[out] cloud the resultant templated point cloud
641  * \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
642  * \param[out] orientation the sensor acquisition orientation (only for >
643  * PCD_V7 - identity if not present)
644  * \ingroup io
645  */
646  inline int
647  loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
648  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
649  {
650  pcl::PCDReader p;
651  int pcd_version;
652  return (p.read (file_name, cloud, origin, orientation, pcd_version));
653  }
654 
655  /** \brief Load any PCD file into a templated PointCloud type
656  * \param[in] file_name the name of the file to load
657  * \param[out] cloud the resultant templated point cloud
658  * \ingroup io
659  */
660  template<typename PointT> inline int
661  loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
662  {
663  pcl::PCDReader p;
664  return (p.read (file_name, cloud));
665  }
666 
667  /** \brief Save point cloud data to a PCD file containing n-D points
668  * \param[in] file_name the output file name
669  * \param[in] cloud the point cloud data message
670  * \param[in] origin the sensor acquisition origin
671  * \param[in] orientation the sensor acquisition orientation
672  * \param[in] binary_mode true for binary mode, false (default) for ASCII
673  *
674  * Caution: PointCloud structures containing an RGB field have
675  * traditionally used packed float values to store RGB data. Storing a
676  * float as ASCII can introduce variations to the smallest bits, and
677  * thus significantly alter the data. This is a known issue, and the fix
678  * involves switching RGB data to be stored as a packed integer in
679  * future versions of PCL.
680  * \ingroup io
681  */
682  inline int
683  savePCDFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
684  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
685  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
686  const bool binary_mode = false)
687  {
688  PCDWriter w;
689  return (w.write (file_name, cloud, origin, orientation, binary_mode));
690  }
691 
692  /** \brief Templated version for saving point cloud data to a PCD file
693  * containing a specific given cloud format
694  * \param[in] file_name the output file name
695  * \param[in] cloud the point cloud data message
696  * \param[in] binary_mode true for binary mode, false (default) for ASCII
697  *
698  * Caution: PointCloud structures containing an RGB field have
699  * traditionally used packed float values to store RGB data. Storing a
700  * float as ASCII can introduce variations to the smallest bits, and
701  * thus significantly alter the data. This is a known issue, and the fix
702  * involves switching RGB data to be stored as a packed integer in
703  * future versions of PCL.
704  * \ingroup io
705  */
706  template<typename PointT> inline int
707  savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
708  {
709  PCDWriter w;
710  return (w.write<PointT> (file_name, cloud, binary_mode));
711  }
712 
713  /**
714  * \brief Templated version for saving point cloud data to a PCD file
715  * containing a specific given cloud format.
716  *
717  * This version is to retain backwards compatibility.
718  * \param[in] file_name the output file name
719  * \param[in] cloud the point cloud data message
720  *
721  * Caution: PointCloud structures containing an RGB field have
722  * traditionally used packed float values to store RGB data. Storing a
723  * float as ASCII can introduce variations to the smallest bits, and
724  * thus significantly alter the data. This is a known issue, and the fix
725  * involves switching RGB data to be stored as a packed integer in
726  * future versions of PCL.
727  * \ingroup io
728  */
729  template<typename PointT> inline int
730  savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
731  {
732  PCDWriter w;
733  return (w.write<PointT> (file_name, cloud, false));
734  }
735 
736  /**
737  * \brief Templated version for saving point cloud data to a PCD file
738  * containing a specific given cloud format. The resulting file will be an uncompressed binary.
739  *
740  * This version is to retain backwards compatibility.
741  * \param[in] file_name the output file name
742  * \param[in] cloud the point cloud data message
743  * \ingroup io
744  */
745  template<typename PointT> inline int
746  savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
747  {
748  PCDWriter w;
749  return (w.write<PointT> (file_name, cloud, true));
750  }
751 
752  /**
753  * \brief Templated version for saving point cloud data to a PCD file
754  * containing a specific given cloud format
755  *
756  * \param[in] file_name the output file name
757  * \param[in] cloud the point cloud data message
758  * \param[in] indices the set of indices to save
759  * \param[in] binary_mode true for binary mode, false (default) for ASCII
760  *
761  * Caution: PointCloud structures containing an RGB field have
762  * traditionally used packed float values to store RGB data. Storing a
763  * float as ASCII can introduce variations to the smallest bits, and
764  * thus significantly alter the data. This is a known issue, and the fix
765  * involves switching RGB data to be stored as a packed integer in
766  * future versions of PCL.
767  * \ingroup io
768  */
769  template<typename PointT> int
770  savePCDFile (const std::string &file_name,
771  const pcl::PointCloud<PointT> &cloud,
772  const pcl::Indices &indices,
773  const bool binary_mode = false)
774  {
775  // Save the data
776  PCDWriter w;
777  return (w.write<PointT> (file_name, cloud, indices, binary_mode));
778  }
779 
780 
781  /**
782  * \brief Templated version for saving point cloud data to a PCD file
783  * containing a specific given cloud format. This method will write a compressed binary file.
784  *
785  * This version is to retain backwards compatibility.
786  * \param[in] file_name the output file name
787  * \param[in] cloud the point cloud data message
788  * \ingroup io
789  */
790  template<typename PointT> inline int
791  savePCDFileBinaryCompressed (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
792  {
793  PCDWriter w;
794  return (w.writeBinaryCompressed<PointT> (file_name, cloud));
795  }
796 
797  }
798 }
799 
800 #include <pcl/io/impl/pcd_io.hpp>
Point Cloud Data (FILE) file format reader interface.
Definition: file_io.h:57
Point Cloud Data (FILE) file format writer.
Definition: file_io.h:163
Point Cloud Data (PCD) file format reader.
Definition: pcd_io.h:55
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.
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.
PCDReader()=default
Empty constructor.
~PCDReader() override=default
Empty destructor.
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.
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.
Definition: pcd_io.h:277
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.
int readBodyASCII(std::istream &stream, pcl::PCLPointCloud2 &cloud, int pcd_version)
Read the point cloud data (body) from a PCD stream.
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.
int readHeader(const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0)
Read a point cloud data header from a PCD file.
Point Cloud Data (PCD) file format writer.
Definition: pcd_io.h:298
std::string generateHeaderASCII(const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format.
void resetLockingPermissions(const std::string &file_name, boost::interprocess::file_lock &lock)
Reset permissions for file locking (Boost 1.49+).
void setLockingPermissions(const std::string &file_name, boost::interprocess::file_lock &lock)
Set permissions for file locking (Boost 1.49+).
~PCDWriter() override=default
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.
Definition: pcd_io.h:564
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.
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.
std::string generateHeaderBinary(const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
Generate the header of a PCD file format.
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.
Definition: pcd_io.h:464
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.
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.
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.
Definition: pcd_io.h:490
void setMapSynchronization(bool sync)
Set whether mmap() synchornization via msync() is desired before munmap() calls.
Definition: pcd_io.h:312
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.
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.
Definition: pcd_io.h:588
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.
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.
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Definition: point_cloud.h:408
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Definition: point_cloud.h:406
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
int savePCDFileASCII(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
Definition: pcd_io.h:730
int savePCDFile(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_mode=false)
Save point cloud data to a PCD file containing n-D points.
Definition: pcd_io.h:683
int savePCDFileBinary(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
Definition: pcd_io.h:746
int loadPCDFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)
Load a PCD v.6 file into a templated PointCloud type.
Definition: pcd_io.h:632
int savePCDFileBinaryCompressed(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
Definition: pcd_io.h:791
Defines functions, macros and traits for allocating and using memory.
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
Definition: region_xy.h:46
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition: conversions.h:163
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
Definition: region_xy.h:63
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.