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

#include <pcl/io/ply_io.h>

Inheritance diagram for pcl::PLYReader:

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 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.
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.
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.
Public Member Functions inherited from pcl::FileReader
	FileReader ()
	empty constructor
virtual	~FileReader ()
	empty destructor

Detailed Description

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

ply
format [ascii|binary_little_endian|binary_big_endian] 1.0
element vertex COUNT
property float x
property float y
[property float z]
[property float normal_x]
[property float normal_y]
[property float normal_z]
[property uchar red]
[property uchar green]
[property uchar blue] ...
ascii/binary point coordinates
[element camera 1]
[property float view_px] ...
[element range_grid COUNT]
[property list uchar int vertex_indices]
end header

Author: Nizar Sallem

Definition at line 77 of file ply_io.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

PLY_V0
PLY_V1

Definition at line 80 of file ply_io.h.

Constructor & Destructor Documentation

pcl::PLYReader::PLYReader ( )

inline

Definition at line 86 of file ply_io.h.

pcl::PLYReader::PLYReader ( const PLYReader & p )

inline

Definition at line 100 of file ply_io.h.

pcl::PLYReader::~PLYReader ( )

inline

Definition at line 126 of file ply_io.h.

Member Function Documentation

PLYReader& pcl::PLYReader::operator= ( const PLYReader & p )

inline

Definition at line 117 of file ply_io.h.

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.

Parameters

[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::read	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		const int	offset = `0`
	)

inline

Read a point cloud data from a PLY file and store it into a pcl/PCLPointCloud2.

Note: This function is provided for backwards compatibility only

Parameters

[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 181 of file ply_io.h.

References pcl::read().

template<typename PointT >

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.

Parameters

[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 199 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::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.

Parameters

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	mesh	the resultant PolygonMesh 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).

int pcl::PLYReader::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.

Parameters

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	mesh	the resultant PolygonMesh 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).

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

Parameters

[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.

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

/tmp/buildd/pcl-1.7.2/io/include/pcl/io/ply_io.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation