pcl::PLYWriter Class Reference
[Module io]

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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYWriter:

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Collaboration diagram for pcl::PLYWriter:

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List of all members.

Public Member Functions
	PLYWriter ()
	Constructor.
	~PLYWriter ()
	Destructor.
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.
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.
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.
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)
	Save point cloud data to a PLY file containing n-D points.
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	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.
template<typename PointT >
int	write (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary=false, bool use_camera=true)
	Save point cloud data to a PLY file containing n-D points.

Detailed Description

Point Cloud Data (PLY) file format writer.

Author:: Nizar Sallem

Definition at line 595 of file ply_io.h.

Constructor & Destructor Documentation

pcl::PLYWriter::PLYWriter ( ) [inline]

Constructor.

Definition at line 599 of file ply_io.h.

pcl::PLYWriter::~PLYWriter ( ) [inline]

Destructor.

Definition at line 602 of file ply_io.h.

Member Function Documentation

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

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

Parameters:

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

Definition at line 633 of file ply_io.h.

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

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

Parameters:

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

Definition at line 614 of file ply_io.h.

template<typename PointT >

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

Save point cloud data to a PLY file containing n-D points.

Parameters:

`[in]`	file_name	the output file name
`[in]`	cloud	the pcl::PointCloud data
`[in]`	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
`[in]`	use_camera	set to true to use camera element and false to use range_grid element

Definition at line 744 of file ply_io.h.

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

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const pcl::PCLPointCloud2::ConstPtr &	cloud,
		const Eigen::Vector4f &	origin = `Eigen::Vector4f::Zero ()`,
		const Eigen::Quaternionf &	orientation = `Eigen::Quaternionf::Identity ()`,
		bool	binary = `false`,
		bool	use_camera = `true`
	)			`[inline]`

Save point cloud data to a PLY file containing n-D points.

Parameters:

`[in]`	file_name	the output file name
`[in]`	cloud	the point cloud data message (boost shared pointer)
`[in]`	origin	the sensor acquisition origin
`[in]`	orientation	the sensor acquisition orientation
`[in]`	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII
`[in]`	use_camera	set to true to use camera element and false to use range_grid element

Definition at line 726 of file ply_io.h.

References pcl::write().

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud,
		const Eigen::Vector4f &	origin = `Eigen::Vector4f::Zero ()`,
		const Eigen::Quaternionf &	orientation = `Eigen::Quaternionf::Identity ()`,
		bool	binary = `false`,
		bool	use_camera = `true`
	)			`[inline]`

Save point cloud data to a PLY file containing n-D points.

Parameters:

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

Definition at line 703 of file ply_io.h.

int pcl::PLYWriter::write	(	const std::string &	file_name,
		const pcl::PCLPointCloud2 &	cloud,
		const Eigen::Vector4f &	origin = `Eigen::Vector4f::Zero ()`,
		const Eigen::Quaternionf &	orientation = `Eigen::Quaternionf::Identity ()`,
		const bool	binary = `false`
	)			`[inline, virtual]`

Save point cloud data to a PLY file containing n-D points.

Parameters:

`[in]`	file_name	the output file name
`[in]`	cloud	the point cloud data message
`[in]`	origin	the sensor acquisition origin
`[in]`	orientation	the sensor acquisition orientation
`[in]`	binary	set to true if the file is to be written in a binary PLY format, false (default) for ASCII

Implements pcl::FileWriter.

Definition at line 681 of file ply_io.h.

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

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

Save point cloud data to a PLY file containing n-D points, in ASCII format.

Parameters:

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

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

Save point cloud data to a PLY file containing n-D points, in BINARY format.

Parameters:

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

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

/builddir/build/BUILD/pcl-pcl-1.7.1/io/include/pcl/io/ply_io.h

pcl::PLYWriter Class Reference [Module io]

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

pcl::PLYWriter Class Reference
[Module io]