Point Cloud Data (PLY) file format reader. More...
#include <pcl/io/ply_io.h>
Public Types |
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| enum | { PLY_V0 = 0, PLY_V1 = 1 } |
Public Member Functions |
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| 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) override |
| Read a point cloud data header from a PLY file. More... |
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| 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. More... |
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| 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. More... |
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| 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. More... |
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| 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. More... |
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| 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. More... |
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 Public Member Functions inherited from pcl::FileReader |
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| FileReader () | |
| empty constructor More... |
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| virtual | ~FileReader () |
| empty destructor More... |
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| int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2. More... |
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| 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 FILE file, and convert it to the given template format. More... |
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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
Member Enumeration Documentation
anonymous enum
Constructor & Destructor Documentation
PLYReader() [1/2]
PLYReader() [2/2]
~PLYReader()
Member Function Documentation
operator=()
read() [1/5]
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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).
Definition at line 183 of file ply_io.h.
References pcl::read().
read() [2/5]
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overridevirtual |
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().
read() [3/5]
template<typename PointT >
|
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).
Definition at line 201 of file ply_io.h.
References pcl::fromPCLPointCloud2(), pcl::read(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
read() [4/5]
| 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).
read() [5/5]
| 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).
readHeader()
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overridevirtual |
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:
- pcl/io/ply_io.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_p_l_y_reader.html
