44 #include <pcl/common/io.h>
45 #include <pcl/io/file_io.h>
46 #include <pcl/io/ply/ply_parser.h>
47 #include <pcl/PolygonMesh.h>
90 : origin_ (
Eigen::Vector4f::Zero ())
91 , orientation_ (
Eigen::Matrix3f::Zero ())
94 , vertex_offset_before_ (0)
95 , range_grid_ (nullptr)
96 , rgb_offset_before_ (0)
104 : origin_ (
Eigen::Vector4f::Zero ())
105 , orientation_ (
Eigen::Matrix3f::Zero ())
108 , vertex_offset_before_ (0)
109 , range_grid_ (nullptr)
110 , rgb_offset_before_ (0)
112 , polygons_ (nullptr)
113 , r_(0), g_(0), b_(0)
123 orientation_ = p.orientation_;
124 range_grid_ = p.range_grid_;
125 polygons_ = p.polygons_;
154 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
155 int &ply_version,
int &data_type,
unsigned int &data_idx,
const int offset = 0)
override;
171 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int& ply_version,
const int offset = 0)
override;
186 Eigen::Vector4f origin;
187 Eigen::Quaternionf orientation;
189 return read (file_name, cloud, origin, orientation, ply_version, offset);
201 template<
typename Po
intT>
inline int
207 ply_version, offset);
231 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
232 int& ply_version,
const int offset = 0);
251 parse (
const std::string& istream_filename);
259 infoCallback (
const std::string& filename, std::size_t line_number,
const std::string& message)
261 PCL_DEBUG (
"[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
270 warningCallback (
const std::string& filename, std::size_t line_number,
const std::string& message)
272 PCL_WARN (
"[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
281 errorCallback (
const std::string& filename, std::size_t line_number,
const std::string& message)
283 PCL_ERROR (
"[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
290 std::tuple<std::function<void ()>, std::function<void ()> >
291 elementDefinitionCallback (
const std::string& element_name, std::size_t count);
294 endHeaderCallback ();
300 template <
typename ScalarType> std::function<void (ScalarType)>
301 scalarPropertyDefinitionCallback (
const std::string& element_name,
const std::string& property_name);
307 template <
typename SizeType,
typename ScalarType>
308 std::tuple<std::function<void (SizeType)>, std::function<void (ScalarType)>, std::function<void ()> >
309 listPropertyDefinitionCallback (
const std::string& element_name,
const std::string& property_name);
314 template <
typename SizeType>
void
315 vertexListPropertyBeginCallback (
const std::string& property_name, SizeType size);
320 template <
typename ContentType>
void
321 vertexListPropertyContentCallback (ContentType value);
325 vertexListPropertyEndCallback ();
331 template<
typename Scalar>
void
332 vertexScalarPropertyCallback (Scalar value);
361 originXCallback (
const float& value) { origin_[0] = value; }
367 originYCallback (
const float& value) { origin_[1] = value; }
373 originZCallback (
const float& value) { origin_[2] = value; }
379 orientationXaxisXCallback (
const float& value) { orientation_ (0,0) = value; }
385 orientationXaxisYCallback (
const float& value) { orientation_ (0,1) = value; }
391 orientationXaxisZCallback (
const float& value) { orientation_ (0,2) = value; }
397 orientationYaxisXCallback (
const float& value) { orientation_ (1,0) = value; }
403 orientationYaxisYCallback (
const float& value) { orientation_ (1,1) = value; }
409 orientationYaxisZCallback (
const float& value) { orientation_ (1,2) = value; }
415 orientationZaxisXCallback (
const float& value) { orientation_ (2,0) = value; }
421 orientationZaxisYCallback (
const float& value) { orientation_ (2,1) = value; }
427 orientationZaxisZCallback (
const float& value) { orientation_ (2,2) = value; }
433 cloudHeightCallback (
const int &height) { cloud_->height = height; }
439 cloudWidthCallback (
const int &width) { cloud_->width = width; }
446 template<
typename Scalar>
void
447 appendScalarProperty (
const std::string& name,
const std::size_t& count = 1);
458 amendProperty (
const std::string& old_name,
const std::string& new_name, std::uint8_t datatype = 0);
462 vertexBeginCallback ();
466 vertexEndCallback ();
470 rangeGridBeginCallback ();
486 rangeGridVertexIndicesEndCallback ();
490 rangeGridEndCallback ();
494 objInfoCallback (
const std::string& line);
498 faceBeginCallback ();
514 faceVertexIndicesEndCallback ();
521 Eigen::Vector4f origin_;
524 Eigen::Matrix3f orientation_;
528 std::size_t vertex_count_;
529 int vertex_offset_before_;
531 std::vector<std::vector <int> > *range_grid_;
532 std::size_t rgb_offset_before_;
535 std::vector<pcl::Vertices> *polygons_;
541 std::int32_t r_, g_, b_;
543 std::uint32_t a_, rgba_;
570 const Eigen::Vector4f &origin,
571 const Eigen::Quaternionf &orientation,
573 bool use_camera =
true)
575 return (generateHeader (cloud, origin, orientation,
true, use_camera, valid_points));
589 const Eigen::Vector4f &origin,
590 const Eigen::Quaternionf &orientation,
592 bool use_camera =
true)
594 return (generateHeader (cloud, origin, orientation,
false, use_camera, valid_points));
608 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
609 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
611 bool use_camera =
true);
623 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
624 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
625 bool use_camera =
true);
637 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
638 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
639 const bool binary =
false)
override
642 return (this->writeBinary (file_name, cloud, origin, orientation,
true));
643 return (this->writeASCII (file_name, cloud, origin, orientation, 8,
true));
658 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
659 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
661 bool use_camera =
true)
664 return (this->writeBinary (file_name, cloud, origin, orientation, use_camera));
665 return (this->writeASCII (file_name, cloud, origin, orientation, 8, use_camera));
680 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
681 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
683 bool use_camera =
true)
685 return (
write (file_name, *cloud, origin, orientation, binary, use_camera));
696 template<
typename Po
intT>
inline int
697 write (
const std::string &file_name,
700 bool use_camera =
true)
709 return (this->
write (file_name, blob, origin, orientation, binary, use_camera));
719 const Eigen::Vector4f &origin,
720 const Eigen::Quaternionf &orientation,
726 writeContentWithCameraASCII (
int nr_points,
728 const Eigen::Vector4f &origin,
729 const Eigen::Quaternionf &orientation,
733 writeContentWithRangeGridASCII (
int nr_points,
735 std::ostringstream& fs,
736 int& nb_valid_points);
754 return (p.
read (file_name, cloud));
767 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
771 return (p.
read (file_name, cloud, origin, orientation, ply_version));
779 template<
typename Po
intT>
inline int
783 return (p.
read (file_name, cloud));
799 return (p.
read (file_name, mesh));
813 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
814 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
815 bool binary_mode =
false,
bool use_camera =
true)
818 return (w.
write (file_name, cloud, origin, orientation, binary_mode, use_camera));
828 template<
typename Po
intT>
inline int
832 return (w.
write<
PointT> (file_name, cloud, binary_mode));
841 template<
typename Po
intT>
inline int
845 return (w.
write<
PointT> (file_name, cloud,
false));
853 template<
typename Po
intT>
inline int
867 template<
typename Po
intT>
int
876 return (w.
write<
PointT> (file_name, cloud_out, binary_mode));
Point Cloud Data (FILE) file format reader interface.
Point Cloud Data (FILE) file format writer.
Point Cloud Data (PLY) file format reader.
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.
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.
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.
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.
PLYReader(const PLYReader &p)
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.
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.
Point Cloud Data (PLY) file format writer.
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.
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.
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.
~PLYWriter() override=default
Destructor.
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.
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.
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.
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.
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.
PLYWriter()=default
Constructor.
PointCloud represents the base class in PCL for storing collections of 3D points.
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Class ply_parser parses a PLY file and generates appropriate atomic parsers for the body.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)
Copy all the fields from a given point cloud into a new point cloud.
int savePLYFileBinary(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
int savePLYFileASCII(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
int loadPLYFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)
Load a PLY v.6 file into a PCLPointCloud2 type.
int savePLYFile(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_mode=false, bool use_camera=true)
Save point cloud data to a PLY file containing n-D points.
Defines functions, macros and traits for allocating and using memory.
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
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.
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
IndicesAllocator<> Indices
Type used for indices in PCL.
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
Defines all the PCL and non-PCL macros used.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.