Various PCD file versions.

PCD_V6 represents PCD files with version 0.6, which contain the following fields:

• lines beginning with # are treated as comments
• FIELDS ...
• SIZE ...
• TYPE ...
• COUNT ...
• WIDTH ...
• HEIGHT ...
• POINTS ...
• DATA ascii/binary

Everything that follows DATA is interpreted as data points and will be read accordingly.

PCD_V7 represents PCD files with version 0.7 and has an important addon: it adds sensor origin/orientation (aka viewpoint) information to a dataset through the use of a new header field:

• VIEWPOINT tx ty tz qw qx qy qz

Definition at line 83 of file pcd_io.h.

Empty constructor.

Definition at line 58 of file pcd_io.h.

Empty destructor.

Definition at line 60 of file pcd_io.h.

Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.

Note

This function is provided for backwards compatibility only and it can only read PCD_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file

PCD_V6 will generate a warning.

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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

• < 0 (-1) on error
• == 0 on success

Read a point cloud data from a PCD 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
[out]	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (either PCD_V6 or PCD_V7)
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

• < 0 (-1) on error
• == 0 on success

Implements pcl::FileReader.

Referenced by pcl::gpu::DataSource::DataSource(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::insertRange(), pcl::io::loadPCDFile(), pcl::LineRGBD< PointXYZT, PointRGBT >::loadTemplates(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::readRange().

Read a point cloud data from any PCD 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 of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

• < 0 (-1) on error
• == 0 on success

Definition at line 277 of file pcd_io.h.

References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

Read the point cloud data (body) from a PCD stream.

Reads the cloud points from a text-formatted stream. For use after readHeader(), when the resulting data_type == 0.

Attention

This assumes the stream has been seeked to the position indicated by the data_idx result of readHeader().

Parameters

[in]	stream	the stream from which to read the body.
[out]	cloud	the resultant point cloud dataset to be filled.
[in]	pcd_version	the PCD version of the stream (from readHeader()).

Returns

• < 0 (-1) on error
• == 0 on success

Read the point cloud data (body) from a block of memory.

Reads the cloud points from a binary-formatted memory block. For use after readHeader(), when the resulting data_type is nonzero.

Parameters

[in]	data	the memory location from which to read the body.
[out]	cloud	the resultant point cloud dataset to be filled.
[in]	pcd_version	the PCD version of the stream (from readHeader()).
[in]	compressed	indicates whether the PCD block contains compressed data. This should be true if the data_type returne by readHeader() == 2.
[in]	data_idx	the offset of the body, as reported by readHeader().

Returns

• < 0 (-1) on error
• == 0 on success

Read a point cloud data header from a PCD file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PCD file. Useful for fast evaluation of the underlying data structure.

Attention

The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

• < 0 (-1) on error
• == 0 on success

Read a point cloud data header from a PCD file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PCD file. Useful for fast evaluation of the underlying data structure.

Attention

The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[out]	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset of where to expect the PCD Header in the file (optional parameter). One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple PCD 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).

Returns

• < 0 (-1) on error
• == 0 on success

Implements pcl::FileReader.

Read a point cloud data header from a PCD-formatted, binary istream.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given PCD stream. Useful for fast evaluation of the underlying data structure.

Attention

The PCD data is always stored in ROW major format! The read/write PCD methods will detect column major input and automatically convert it.

Parameters

[in]	binary_istream	a std::istream with openmode set to std::ios::binary.
[out]	cloud	the resultant point cloud dataset (only these members will be filled: width, height, point_step, row_step, fields[]; data is resized but not written)
[out]	origin	the sensor acquisition origin (only for > PCD_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
[out]	pcd_version	the PCD version of the file (i.e., PCD_V6, PCD_V7)
[out]	data_type	the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
[out]	data_idx	the offset of cloud data within the file

Returns

• < 0 (-1) on error
• == 0 on success

Referenced by pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer().