Point Cloud Data (PLY) file format reader. More...
#include <pcl/io/ply_io.h>
Public Types | |
| enum | { PLY_V0 = 0, PLY_V1 = 1 } |
Public Member Functions | |
| PLYReader () | |
| PLYReader (const PLYReader &p) | |
| PLYReader & | operator= (const PLYReader &p) |
| ~PLYReader () | |
| 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) |
| Read a point cloud data header from a PLY file. | |
| int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, 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/PCLPointCloud2. | |
| int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a pcl/PCLPointCloud2. | |
| template<typename PointT > | |
| int | read (const std::string &file_name, pcl::PointCloud< PointT > &cloud, const int offset=0) |
| Read a point cloud data from any PLY file, and convert it to the given template format. | |
Point Cloud Data (PLY) file format reader.
The PLY data format is organized in the following way: lines beginning with "comment" are treated as comments
Definition at line 77 of file ply_io.h.
| int pcl::PLYReader::read | ( | const std::string & | file_name, | |
| pcl::PointCloud< PointT > & | cloud, | |||
| const int | offset = 0 | |||
| ) | [inline] |
Read a point cloud data from any PLY file, and convert it to the given template format.
| [in] | file_name | the name of the file containing the actual PointCloud data |
| [out] | cloud | the resultant PointCloud message read from disk |
| [in] | offset | the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). |
Reimplemented from pcl::FileReader.
Definition at line 207 of file ply_io.h.
References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
| int pcl::PLYReader::read | ( | const std::string & | file_name, | |
| pcl::PCLPointCloud2 & | cloud, | |||
| const int | offset = 0 | |||
| ) | [inline] |
Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a pcl/PCLPointCloud2.
| [in] | file_name | the name of the file containing the actual PointCloud data |
| [out] | cloud | the resultant PointCloud message read from disk |
| [in] | offset | the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). |
Reimplemented from pcl::FileReader.
Definition at line 189 of file ply_io.h.
References pcl::read().
| int pcl::PLYReader::read | ( | const std::string & | file_name, | |
| pcl::PCLPointCloud2 & | cloud, | |||
| Eigen::Vector4f & | origin, | |||
| Eigen::Quaternionf & | orientation, | |||
| int & | ply_version, | |||
| const int | offset = 0 | |||
| ) | [virtual] |
Read a point cloud data from a PLY file and store it into a pcl/PCLPointCloud2.
| [in] | file_name | the name of the file containing the actual PointCloud data |
| [out] | cloud | the resultant PointCloud message read from disk |
| [in] | origin | the sensor data acquisition origin (translation) |
| [in] | orientation | the sensor data acquisition origin (rotation) |
| [out] | ply_version | the PLY version read from the file |
| [in] | offset | the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). |
Implements pcl::FileReader.
Referenced by pcl::io::loadPLYFile().
| int pcl::PLYReader::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 | |||
| ) | [virtual] |
Read a point cloud data header from a PLY file.
Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PLY file. Useful for fast evaluation of the underlying data structure.
Returns: * < 0 (-1) on error * > 0 on success
| [in] | file_name | the name of the file to load |
| [out] | cloud | the resultant point cloud dataset (only the header will be filled) |
| [in] | origin | the sensor data acquisition origin (translation) |
| [in] | orientation | the sensor data acquisition origin (rotation) |
| [out] | ply_version | the PLY version read from the file |
| [out] | data_type | the type of PLY data stored in the file |
| [out] | data_idx | the data index |
| [in] | offset | the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). |
Implements pcl::FileReader.
