Point Cloud Library (PCL)  1.12.0-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 () {}
59  /** Empty destructor */
60  ~PCDReader () {}
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 returne 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) {}
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
323  generateHeaderBinary (const pcl::PCLPointCloud2 &cloud,
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
338  generateHeaderBinaryCompressed (std::ostream &os,
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
349  generateHeaderBinaryCompressed (const pcl::PCLPointCloud2 &cloud,
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
359  generateHeaderASCII (const pcl::PCLPointCloud2 &cloud,
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 PCD file containing n-D points, in BINARY_COMPRESSED format
406  * \param[in] file_name the output file name
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  * \return
411  * (-1) for a general error
412  * (-2) if the input cloud is too large for the file format
413  * 0 on success
414  */
415  int
416  writeBinaryCompressed (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
417  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
418  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
419 
420  /** \brief Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format
421  * \param[out] os the stream into which to write the data
422  * \param[in] cloud the point cloud data message
423  * \param[in] origin the sensor acquisition origin
424  * \param[in] orientation the sensor acquisition orientation
425  * \return
426  * (-1) for a general error
427  * (-2) if the input cloud is too large for the file format
428  * 0 on success
429  */
430  int
431  writeBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud,
432  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
433  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
434 
435  /** \brief Save point cloud data to a PCD file containing n-D points
436  * \param[in] file_name the output file name
437  * \param[in] cloud the point cloud data message
438  * \param[in] origin the sensor acquisition origin
439  * \param[in] orientation the sensor acquisition orientation
440  * \param[in] binary set to true if the file is to be written in a binary
441  * PCD format, false (default) for ASCII
442  *
443  * Caution: PointCloud structures containing an RGB field have
444  * traditionally used packed float values to store RGB data. Storing a
445  * float as ASCII can introduce variations to the smallest bits, and
446  * thus significantly alter the data. This is a known issue, and the fix
447  * involves switching RGB data to be stored as a packed integer in
448  * future versions of PCL.
449  *
450  * As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.
451  */
452  inline int
453  write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
454  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
455  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
456  const bool binary = false) override
457  {
458  if (binary)
459  return (writeBinary (file_name, cloud, origin, orientation));
460  return (writeASCII (file_name, cloud, origin, orientation, 8));
461  }
462 
463  /** \brief Save point cloud data to a PCD file containing n-D points
464  * \param[in] file_name the output file name
465  * \param[in] cloud the point cloud data message (boost shared pointer)
466  * \param[in] binary set to true if the file is to be written in a binary PCD format,
467  * false (default) for ASCII
468  * \param[in] origin the sensor acquisition origin
469  * \param[in] orientation the sensor acquisition orientation
470  *
471  * Caution: PointCloud structures containing an RGB field have
472  * traditionally used packed float values to store RGB data. Storing a
473  * float as ASCII can introduce variations to the smallest bits, and
474  * thus significantly alter the data. This is a known issue, and the fix
475  * involves switching RGB data to be stored as a packed integer in
476  * future versions of PCL.
477  */
478  inline int
479  write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud,
480  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
481  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
482  const bool binary = false)
483  {
484  return (write (file_name, *cloud, origin, orientation, binary));
485  }
486 
487  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
488  * \param[in] file_name the output file name
489  * \param[in] cloud the point cloud data message
490  */
491  template <typename PointT> int
492  writeBinary (const std::string &file_name,
493  const pcl::PointCloud<PointT> &cloud);
494 
495  /** \brief Save point cloud data to a binary comprssed PCD file
496  * \param[in] file_name the output file name
497  * \param[in] cloud the point cloud data message
498  * \return
499  * (-1) for a general error
500  * (-2) if the input cloud is too large for the file format
501  * 0 on success
502  */
503  template <typename PointT> int
504  writeBinaryCompressed (const std::string &file_name,
505  const pcl::PointCloud<PointT> &cloud);
506 
507  /** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
508  * \param[in] file_name the output file name
509  * \param[in] cloud the point cloud data message
510  * \param[in] indices the set of point indices that we want written to disk
511  */
512  template <typename PointT> int
513  writeBinary (const std::string &file_name,
514  const pcl::PointCloud<PointT> &cloud,
515  const pcl::Indices &indices);
516 
517  /** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
518  * \param[in] file_name the output file name
519  * \param[in] cloud the point cloud data message
520  * \param[in] precision the specified output numeric stream precision (default: 8)
521  */
522  template <typename PointT> int
523  writeASCII (const std::string &file_name,
524  const pcl::PointCloud<PointT> &cloud,
525  const int precision = 8);
526 
527  /** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
528  * \param[in] file_name the output file name
529  * \param[in] cloud the point cloud data message
530  * \param[in] indices the set of point indices that we want written to disk
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 pcl::Indices &indices,
537  const int precision = 8);
538 
539  /** \brief Save point cloud data to a PCD file containing n-D points
540  * \param[in] file_name the output file name
541  * \param[in] cloud the pcl::PointCloud data
542  * \param[in] binary set to true if the file is to be written in a binary
543  * PCD format, false (default) for ASCII
544  *
545  * Caution: PointCloud structures containing an RGB field have
546  * traditionally used packed float values to store RGB data. Storing a
547  * float as ASCII can introduce variations to the smallest bits, and
548  * thus significantly alter the data. This is a known issue, and the fix
549  * involves switching RGB data to be stored as a packed integer in
550  * future versions of PCL.
551  */
552  template<typename PointT> inline int
553  write (const std::string &file_name,
554  const pcl::PointCloud<PointT> &cloud,
555  const bool binary = false)
556  {
557  if (binary)
558  return (writeBinary<PointT> (file_name, cloud));
559  return (writeASCII<PointT> (file_name, cloud));
560  }
561 
562  /** \brief Save point cloud data to a PCD file containing n-D points
563  * \param[in] file_name the output file name
564  * \param[in] cloud the pcl::PointCloud data
565  * \param[in] indices the set of point indices that we want written to disk
566  * \param[in] binary set to true if the file is to be written in a binary
567  * PCD format, false (default) for ASCII
568  *
569  * Caution: PointCloud structures containing an RGB field have
570  * traditionally used packed float values to store RGB data. Storing a
571  * float as ASCII can introduce variations to the smallest bits, and
572  * thus significantly alter the data. This is a known issue, and the fix
573  * involves switching RGB data to be stored as a packed integer in
574  * future versions of PCL.
575  */
576  template<typename PointT> inline int
577  write (const std::string &file_name,
578  const pcl::PointCloud<PointT> &cloud,
579  const pcl::Indices &indices,
580  bool binary = false)
581  {
582  if (binary)
583  return (writeBinary<PointT> (file_name, cloud, indices));
584  return (writeASCII<PointT> (file_name, cloud, indices));
585  }
586 
587  protected:
588  /** \brief Set permissions for file locking (Boost 1.49+).
589  * \param[in] file_name the file name to set permission for file locking
590  * \param[in,out] lock the file lock
591  */
592  void
593  setLockingPermissions (const std::string &file_name,
594  boost::interprocess::file_lock &lock);
595 
596  /** \brief Reset permissions for file locking (Boost 1.49+).
597  * \param[in] file_name the file name to reset permission for file locking
598  * \param[in,out] lock the file lock
599  */
600  void
601  resetLockingPermissions (const std::string &file_name,
602  boost::interprocess::file_lock &lock);
603 
604  private:
605  /** \brief Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems. */
606  bool map_synchronization_;
607  };
608 
609  namespace io
610  {
611  /** \brief Load a PCD v.6 file into a templated PointCloud type.
612  *
613  * Any PCD files > v.6 will generate a warning as a
614  * pcl/PCLPointCloud2 message cannot hold the sensor origin.
615  *
616  * \param[in] file_name the name of the file to load
617  * \param[out] cloud the resultant templated point cloud
618  * \ingroup io
619  */
620  inline int
621  loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
622  {
623  pcl::PCDReader p;
624  return (p.read (file_name, cloud));
625  }
626 
627  /** \brief Load any PCD file into a templated PointCloud type.
628  * \param[in] file_name the name of the file to load
629  * \param[out] cloud the resultant templated point cloud
630  * \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
631  * \param[out] orientation the sensor acquisition orientation (only for >
632  * PCD_V7 - identity if not present)
633  * \ingroup io
634  */
635  inline int
636  loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
637  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
638  {
639  pcl::PCDReader p;
640  int pcd_version;
641  return (p.read (file_name, cloud, origin, orientation, pcd_version));
642  }
643 
644  /** \brief Load any PCD file into a templated PointCloud type
645  * \param[in] file_name the name of the file to load
646  * \param[out] cloud the resultant templated point cloud
647  * \ingroup io
648  */
649  template<typename PointT> inline int
650  loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
651  {
652  pcl::PCDReader p;
653  return (p.read (file_name, cloud));
654  }
655 
656  /** \brief Save point cloud data to a PCD file containing n-D points
657  * \param[in] file_name the output file name
658  * \param[in] cloud the point cloud data message
659  * \param[in] origin the sensor acquisition origin
660  * \param[in] orientation the sensor acquisition orientation
661  * \param[in] binary_mode true for binary mode, false (default) for ASCII
662  *
663  * Caution: PointCloud structures containing an RGB field have
664  * traditionally used packed float values to store RGB data. Storing a
665  * float as ASCII can introduce variations to the smallest bits, and
666  * thus significantly alter the data. This is a known issue, and the fix
667  * involves switching RGB data to be stored as a packed integer in
668  * future versions of PCL.
669  * \ingroup io
670  */
671  inline int
672  savePCDFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
673  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
674  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
675  const bool binary_mode = false)
676  {
677  PCDWriter w;
678  return (w.write (file_name, cloud, origin, orientation, binary_mode));
679  }
680 
681  /** \brief Templated version for saving point cloud data to a PCD file
682  * containing a specific given cloud format
683  * \param[in] file_name the output file name
684  * \param[in] cloud the point cloud data message
685  * \param[in] binary_mode true for binary mode, false (default) for ASCII
686  *
687  * Caution: PointCloud structures containing an RGB field have
688  * traditionally used packed float values to store RGB data. Storing a
689  * float as ASCII can introduce variations to the smallest bits, and
690  * thus significantly alter the data. This is a known issue, and the fix
691  * involves switching RGB data to be stored as a packed integer in
692  * future versions of PCL.
693  * \ingroup io
694  */
695  template<typename PointT> inline int
696  savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
697  {
698  PCDWriter w;
699  return (w.write<PointT> (file_name, cloud, binary_mode));
700  }
701 
702  /**
703  * \brief Templated version for saving point cloud data to a PCD file
704  * containing a specific given cloud format.
705  *
706  * This version is to retain backwards compatibility.
707  * \param[in] file_name the output file name
708  * \param[in] cloud the point cloud data message
709  *
710  * Caution: PointCloud structures containing an RGB field have
711  * traditionally used packed float values to store RGB data. Storing a
712  * float as ASCII can introduce variations to the smallest bits, and
713  * thus significantly alter the data. This is a known issue, and the fix
714  * involves switching RGB data to be stored as a packed integer in
715  * future versions of PCL.
716  * \ingroup io
717  */
718  template<typename PointT> inline int
719  savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
720  {
721  PCDWriter w;
722  return (w.write<PointT> (file_name, cloud, false));
723  }
724 
725  /**
726  * \brief Templated version for saving point cloud data to a PCD file
727  * containing a specific given cloud format. The resulting file will be an uncompressed binary.
728  *
729  * This version is to retain backwards compatibility.
730  * \param[in] file_name the output file name
731  * \param[in] cloud the point cloud data message
732  * \ingroup io
733  */
734  template<typename PointT> inline int
735  savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
736  {
737  PCDWriter w;
738  return (w.write<PointT> (file_name, cloud, true));
739  }
740 
741  /**
742  * \brief Templated version for saving point cloud data to a PCD file
743  * containing a specific given cloud format
744  *
745  * \param[in] file_name the output file name
746  * \param[in] cloud the point cloud data message
747  * \param[in] indices the set of indices to save
748  * \param[in] binary_mode true for binary mode, false (default) for ASCII
749  *
750  * Caution: PointCloud structures containing an RGB field have
751  * traditionally used packed float values to store RGB data. Storing a
752  * float as ASCII can introduce variations to the smallest bits, and
753  * thus significantly alter the data. This is a known issue, and the fix
754  * involves switching RGB data to be stored as a packed integer in
755  * future versions of PCL.
756  * \ingroup io
757  */
758  template<typename PointT> int
759  savePCDFile (const std::string &file_name,
760  const pcl::PointCloud<PointT> &cloud,
761  const pcl::Indices &indices,
762  const bool binary_mode = false)
763  {
764  // Save the data
765  PCDWriter w;
766  return (w.write<PointT> (file_name, cloud, indices, binary_mode));
767  }
768 
769 
770  /**
771  * \brief Templated version for saving point cloud data to a PCD file
772  * containing a specific given cloud format. This method will write a compressed binary file.
773  *
774  * This version is to retain backwards compatibility.
775  * \param[in] file_name the output file name
776  * \param[in] cloud the point cloud data message
777  * \ingroup io
778  */
779  template<typename PointT> inline int
780  savePCDFileBinaryCompressed (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
781  {
782  PCDWriter w;
783  return (w.writeBinaryCompressed<PointT> (file_name, cloud));
784  }
785 
786  }
787 }
788 
789 #include <pcl/io/impl/pcd_io.hpp>
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::PCDWriter::PCDWriter
PCDWriter()
Definition: pcd_io.h:300
pcl::PCDWriter::write
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:553
pcl::PCDWriter::write
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:453
pcl::PCDWriter::writeBinaryCompressed
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.
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:674
pcl::io::savePCDFileASCII
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:719
pcl::FileWriter
Point Cloud Data (FILE) file format writer.
Definition: file_io.h:162
pcl::io::savePCDFile
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:672
pcl::read
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
Definition: region_xy.h:46
pcl::PCDReader::~PCDReader
~PCDReader()
Empty destructor.
Definition: pcd_io.h:60
pcl::PCDWriter::setMapSynchronization
void setMapSynchronization(bool sync)
Set whether mmap() synchornization via msync() is desired before munmap() calls.
Definition: pcd_io.h:312
pcl::PCDReader::read
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
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:36
pcl::PCDReader::PCDReader
PCDReader()
Empty constructor.
Definition: pcd_io.h:58
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::PCDWriter::write
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:479
pcl::FileReader
Point Cloud Data (FILE) file format reader interface.
Definition: file_io.h:56
pcl::PointCloud::sensor_origin_
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Definition: point_cloud.h:406
pcl::PointCloud::sensor_orientation_
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Definition: point_cloud.h:408
pcl::io::savePCDFileBinary
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:735
pcl::PCDWriter::~PCDWriter
~PCDWriter()
Definition: pcd_io.h:301
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:16
pcl::PCDWriter::write
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:577
pcl::write
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
Definition: region_xy.h:63
pcl::io::loadPCDFile
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:621
pcl::PCDReader
Point Cloud Data (PCD) file format reader.
Definition: pcd_io.h:54
pcl::io::savePCDFileBinaryCompressed
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:780
pcl::PCDReader::read
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.
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::PCDWriter
Point Cloud Data (PCD) file format writer.
Definition: pcd_io.h:297
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::fromPCLPointCloud2
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition: conversions.h:166