Point Cloud Library (PCL)
1.7.1
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The pcl_io library contains classes and functions for reading and writing point cloud data (PCD) files, as well as capturing point clouds from a variety of sensing devices. An introduction to some of these capabilities can be found in the following tutorials:
PCL is agnostic with respect to the data sources that are used to generate 3D point clouds. While OpenNI-compatible cameras have recently been at the center of attention in the 3D/robotics sensing community, many of the devices enumerated below have been used with PCL tools in the past:
Classes | |
class | pcl::ASCIIReader |
Ascii Point Cloud Reader. More... | |
class | pcl::io::DeBayer |
Various debayering methods. More... | |
class | pcl::DinastGrabber |
Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001) More... | |
class | pcl::FileGrabber< PointT > |
FileGrabber provides a container-style interface for grabbers which operate on fixed-size input. More... | |
class | pcl::FileReader |
Point Cloud Data (FILE) file format reader interface. More... | |
class | pcl::FileWriter |
Point Cloud Data (FILE) file format writer. More... | |
class | pcl::Grabber |
Grabber interface for PCL 1.x device drivers. More... | |
struct | pcl::HDLGrabber::HDLLaserReturn |
struct | pcl::HDLGrabber::HDLFiringData |
struct | pcl::HDLGrabber::HDLDataPacket |
struct | pcl::HDLGrabber::HDLLaserCorrection |
class | pcl::HDLGrabber |
Grabber for the Velodyne High-Definition-Laser (HDL) More... | |
class | pcl::ImageGrabberBase |
Base class for Image file grabber. More... | |
class | pcl::io::LZFImageReader |
PCL-LZF image format reader. More... | |
class | pcl::io::LZFDepth16ImageReader |
PCL-LZF 16-bit depth image format reader. More... | |
class | pcl::io::LZFRGB24ImageReader |
PCL-LZF 24-bit RGB image format reader. More... | |
class | pcl::io::LZFYUV422ImageReader |
PCL-LZF 8-bit Bayer image format reader. More... | |
class | pcl::io::LZFBayer8ImageReader |
PCL-LZF 8-bit Bayer image format reader. More... | |
class | pcl::io::LZFImageWriter |
PCL-LZF image format writer. More... | |
class | pcl::io::LZFDepth16ImageWriter |
PCL-LZF 16-bit depth image format writer. More... | |
class | pcl::io::LZFRGB24ImageWriter |
PCL-LZF 24-bit RGB image format writer. More... | |
class | pcl::io::LZFYUV422ImageWriter |
PCL-LZF 16-bit YUV422 image format writer. More... | |
class | pcl::io::LZFBayer8ImageWriter |
PCL-LZF 8-bit Bayer image format writer. More... | |
class | pcl::ONIGrabber |
A simple ONI grabber. More... | |
struct | openni_wrapper::OpenNIDevice::ShiftConversion |
class | openni_wrapper::OpenNIDevice |
Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live. More... | |
class | openni_wrapper::DeviceKinect |
Concrete implementation of the interface OpenNIDevice for a MS Kinect device. More... | |
class | openni_wrapper::DeviceONI |
Concrete implementation of the interface OpenNIDevice for a virtual device playing back an ONI file. More... | |
class | openni_wrapper::DevicePrimesense |
Concrete implementation of the interface OpenNIDevice for a Primesense device. More... | |
class | openni_wrapper::DeviceXtionPro |
Concrete implementation of the interface OpenNIDevice for a Asus Xtion Pro device. More... | |
struct | openni_wrapper::OpenNIDriver::DeviceContext |
class | openni_wrapper::OpenNIDriver |
Driver class implemented as Singleton. More... | |
class | openni_wrapper::OpenNIException |
General exception class. More... | |
class | openni_wrapper::Image |
Image class containing just a reference to image meta data. More... | |
class | openni_wrapper::ImageBayerGRBG |
This class provides methods to fill a RGB or Grayscale image buffer from underlying Bayer pattern image. More... | |
class | openni_wrapper::ImageRGB24 |
This class provides methods to fill a RGB or Grayscale image buffer from underlying RGB24 image. More... | |
class | openni_wrapper::ImageYUV422 |
Concrete implementation of the interface Image for a YUV 422 image used by Primesense devices. More... | |
struct | pcl::OpenNIGrabber::modeComp |
class | pcl::OpenNIGrabber |
Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live) More... | |
class | pcl::PCDGrabberBase |
Base class for PCD file grabber. More... | |
class | pcl::PCDReader |
Point Cloud Data (PCD) file format reader. More... | |
class | pcl::PCDWriter |
Point Cloud Data (PCD) file format writer. More... | |
class | pcl::PLYReader |
Point Cloud Data (PLY) file format reader. More... | |
class | pcl::PLYWriter |
Point Cloud Data (PLY) file format writer. More... | |
class | pcl::io::PointCloudImageExtractor< PointT > |
Base Image Extractor class for organized point clouds. More... | |
class | pcl::io::PointCloudImageExtractorWithScaling< PointT > |
Image Extractor extension which provides functionality to apply scaling to the values extracted from a field. More... | |
class | pcl::io::PointCloudImageExtractorFromNormalField< PointT > |
Image Extractor which uses the data present in the "normal" field. More... | |
class | pcl::io::PointCloudImageExtractorFromRGBField< PointT > |
Image Extractor which uses the data present in the "rgb" or "rgba" fields to produce a color image with rgb8 encoding. More... | |
class | pcl::io::PointCloudImageExtractorFromLabelField< PointT > |
Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB image where different labels correspond to different colors. More... | |
class | pcl::io::PointCloudImageExtractorFromZField< PointT > |
Image Extractor which uses the data present in the "z" field to produce a depth map (as a monochrome image with mono16 encoding). More... | |
class | pcl::io::PointCloudImageExtractorFromCurvatureField< PointT > |
Image Extractor which uses the data present in the "curvature" field to produce a curvature map (as a monochrome image with mono16 encoding). More... | |
class | pcl::io::PointCloudImageExtractorFromIntensityField< PointT > |
Image Extractor which uses the data present in the "intensity" field to produce a monochrome intensity image (with mono16 encoding). More... | |
class | pcl::PXCGrabber |
Grabber for PXC devices. More... | |
class | pcl::RobotEyeGrabber |
Grabber for the Ocular Robotics RobotEye sensor. More... | |
Files | |
file | byte_order.h |
defines byte shift operations and endianess. | |
file | io_operators.h |
defines output operators for int8 and uint8 | |
file | ply.h |
contains standard typedefs and generic type traits | |
Functions | |
PCL_EXPORTS void | pcl::io::encodeMonoImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1) |
Encodes 8-bit mono image to PNG format. More... | |
PCL_EXPORTS void | pcl::io::encodeMonoImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1) |
Encodes 16-bit mono image to PNG format. More... | |
PCL_EXPORTS void | pcl::io::encodeRGBImageToPNG (std::vector< uint8_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1) |
Encodes 8-bit RGB image to PNG format. More... | |
PCL_EXPORTS void | pcl::io::encodeRGBImageToPNG (std::vector< uint16_t > &image_arg, size_t width_arg, size_t height_arg, std::vector< uint8_t > &pngData_arg, int png_level_arg=-1) |
Encodes 16-bit RGB image to PNG format. More... | |
PCL_EXPORTS void | pcl::io::decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint8_t > &imageData_arg, size_t &width_arg, size_t &heigh_argt, unsigned int &channels_arg) |
Decode compressed PNG to 8-bit image. More... | |
PCL_EXPORTS void | pcl::io::decodePNGToImage (std::vector< uint8_t > &pngData_arg, std::vector< uint16_t > &imageData_arg, size_t &width_arg, size_t &height_arg, unsigned int &channels_arg) |
Decode compressed PNG to 16-bit image. More... | |
static void | pcl::io::OrganizedConversion< PointT, false >::convert (const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool, typename std::vector< uint16_t > &disparityData_arg, typename std::vector< uint8_t > &) |
Convert point cloud to disparity image. More... | |
static void | pcl::io::OrganizedConversion< PointT, false >::convert (typename std::vector< uint16_t > &disparityData_arg, typename std::vector< uint8_t > &, bool, size_t width_arg, size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg) |
Convert disparity image to point cloud. More... | |
static void | pcl::io::OrganizedConversion< PointT, false >::convert (typename std::vector< float > &depthData_arg, typename std::vector< uint8_t > &, bool, size_t width_arg, size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg) |
Convert disparity image to point cloud. More... | |
static void | pcl::io::OrganizedConversion< PointT, true >::convert (const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool convertToMono, typename std::vector< uint16_t > &disparityData_arg, typename std::vector< uint8_t > &rgbData_arg) |
Convert point cloud to disparity image and rgb image. More... | |
static void | pcl::io::OrganizedConversion< PointT, true >::convert (typename std::vector< uint16_t > &disparityData_arg, typename std::vector< uint8_t > &rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg) |
Convert disparity image to point cloud. More... | |
static void | pcl::io::OrganizedConversion< PointT, true >::convert (typename std::vector< float > &depthData_arg, typename std::vector< uint8_t > &rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg) |
Convert disparity image to point cloud. More... | |
PCL_EXPORTS int | pcl::io::saveOBJFile (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5) |
Saves a TextureMesh in ascii OBJ format. More... | |
PCL_EXPORTS int | pcl::io::saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5) |
Saves a PolygonMesh in ascii PLY format. More... | |
int | pcl::io::loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud) |
Load a PCD v.6 file into a templated PointCloud type. More... | |
int | pcl::io::loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) |
Load any PCD file into a templated PointCloud type. More... | |
template<typename PointT > | |
int | pcl::io::loadPCDFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud) |
Load any PCD file into a templated PointCloud type. More... | |
int | pcl::io::savePCDFile (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_mode=false) |
Save point cloud data to a PCD file containing n-D points. More... | |
template<typename PointT > | |
int | pcl::io::savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePCDFileASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePCDFileBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePCDFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, const bool binary_mode=false) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePCDFileBinaryCompressed (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format. More... | |
int | pcl::io::loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud) |
Load a PLY v.6 file into a templated PointCloud type. More... | |
int | pcl::io::loadPLYFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) |
Load any PLY file into a templated PointCloud type. More... | |
template<typename PointT > | |
int | pcl::io::loadPLYFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud) |
Load any PLY file into a templated PointCloud type. More... | |
int | pcl::io::savePLYFile (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_mode=false, bool use_camera=true) |
Save point cloud data to a PLY file containing n-D points. More... | |
template<typename PointT > | |
int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, bool binary_mode=false) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePLYFileASCII (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PointCloud< PointT > &cloud) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. More... | |
template<typename PointT > | |
int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::vector< int > &indices, bool binary_mode=false) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format. More... | |
PCL_EXPORTS int | pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5) |
Saves a PolygonMesh in ascii PLY format. More... | |
PCL_EXPORTS int | pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh &mesh) |
Saves a PolygonMesh in binary PLY format. More... | |
PCL_EXPORTS void | pcl::io::saveCharPNGFile (const std::string &file_name, const unsigned char *mono_image, int width, int height, int channels) |
Saves 8-bit encoded image to PNG file. More... | |
PCL_EXPORTS void | pcl::io::saveShortPNGFile (const std::string &file_name, const unsigned short *short_image, int width, int height, int channels) |
Saves 16-bit encoded image to PNG file. More... | |
PCL_EXPORTS void | pcl::io::saveRgbPNGFile (const std::string &file_name, const unsigned char *rgb_image, int width, int height) |
Saves 8-bit encoded RGB image to PNG file. More... | |
void | pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned char > &cloud) |
Saves 8-bit grayscale cloud as image to PNG file. More... | |
void | pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< unsigned short > &cloud) |
Saves 16-bit grayscale cloud as image to PNG file. More... | |
void | pcl::io::savePNGFile (const std::string &file_name, const pcl::PCLImage &image) |
Saves a PCLImage (formely ROS sensor_msgs::Image) to PNG file. More... | |
pcl::io::PCL_DEPRECATED (template< typename T > void savePNGFile(const std::string &file_name, const pcl::PointCloud< T > &cloud),"pcl::io::savePNGFile<typename T> (file_name, cloud) is deprecated, please use a new generic ""function pcl::io::savePNGFile (file_name, cloud, field_name) with \"rgb\" as the field name.") | |
Saves RGB fields of cloud as image to PNG file. More... | |
pcl::io::PCL_DEPRECATED (void savePNGFile(const std::string &file_name, const pcl::PointCloud< pcl::PointXYZL > &cloud),"pcl::io::savePNGFile (file_name, cloud) is deprecated, please use a new generic function ""pcl::io::savePNGFile (file_name, cloud, field_name) with \"label\" as the field name.") | |
Saves Labeled Point cloud as image to PNG file. More... | |
template<typename PointT > | |
void | pcl::io::savePNGFile (const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::string &field_name) |
Saves the data from the specified field of the point cloud as image to PNG file. More... | |
PCL_EXPORTS int | pcl::io::saveVTKFile (const std::string &file_name, const pcl::PolygonMesh &triangles, unsigned precision=5) |
Saves a PolygonMesh in ascii VTK format. More... | |
PCL_EXPORTS int | pcl::io::saveVTKFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, unsigned precision=5) |
Saves a PointCloud in ascii VTK format. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFile (const std::string &file_name, pcl::PolygonMesh &mesh) |
Load a PolygonMesh object given an input file name, based on the file extension. More... | |
PCL_EXPORTS int | pcl::io::savePolygonFile (const std::string &file_name, const pcl::PolygonMesh &mesh) |
Save a PolygonMesh object given an input file name, based on the file extension. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFileVTK (const std::string &file_name, pcl::PolygonMesh &mesh) |
Load a VTK file into a PolygonMesh object. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFilePLY (const std::string &file_name, pcl::PolygonMesh &mesh) |
Load a PLY file into a PolygonMesh object. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFileOBJ (const std::string &file_name, pcl::PolygonMesh &mesh) |
Load an OBJ file into a PolygonMesh object. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFileOBJ (const std::string &file_name, pcl::TextureMesh &mesh) |
Load an OBJ file into a TextureMesh object. More... | |
PCL_EXPORTS int | pcl::io::loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh &mesh) |
Load an STL file into a PolygonMesh object. More... | |
PCL_EXPORTS int | pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh &mesh) |
Save a PolygonMesh object into a VTK file. More... | |
PCL_EXPORTS int | pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh &mesh) |
Save a PolygonMesh object into a PLY file. More... | |
PCL_EXPORTS int | pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh &mesh) |
Save a PolygonMesh object into an STL file. More... | |
PCL_EXPORTS void | pcl::io::saveRangeImagePlanarFilePNG (const std::string &file_name, const pcl::RangeImagePlanar &range_image) |
Write a RangeImagePlanar object to a PNG file. More... | |
template<typename PointT > | |
void | pcl::io::pointCloudTovtkPolyData (const pcl::PointCloud< PointT > &cloud, vtkPolyData *const polydata) |
Convert a pcl::PointCloud object to a VTK PolyData one. More... | |
PCL_EXPORTS void | pcl::io::pointCloudTovtkPolyData (const pcl::PCLPointCloud2Ptr &cloud, vtkSmartPointer< vtkPolyData > &poly_data) |
Convert a PCLPointCloud2 object to a VTK PolyData object. More... | |
template<typename PointT > | |
void | pcl::io::pointCloudTovtkStructuredGrid (const pcl::PointCloud< PointT > &cloud, vtkStructuredGrid *const structured_grid) |
Convert a pcl::PointCloud object to a VTK StructuredGrid one. More... | |
template<typename PointT > | |
void | pcl::io::vtkPolyDataToPointCloud (vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud) |
Convert a VTK PolyData object to a pcl::PointCloud one. More... | |
template<typename PointT > | |
void | pcl::io::vtkStructuredGridToPointCloud (vtkStructuredGrid *const structured_grid, pcl::PointCloud< PointT > &cloud) |
Convert a VTK StructuredGrid object to a pcl::PointCloud one. More... | |
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protected |
Device command values.
Enumerator | |
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CMD_READ_START | |
CMD_READ_STOP | |
CMD_GET_VERSION | |
CMD_SEND_DATA |
Definition at line 199 of file dinast_grabber.h.
anonymous enum |
Various PCD file versions.
PCD_V6 represents PCD files with version 0.6, which contain the following fields:
Everything that follows DATA is intepreted 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:
Enumerator | |
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PCD_V6 | |
PCD_V7 |
enum pcl::io::PointCloudImageExtractorFromLabelField::ColorMode |
Different modes for color mapping.
Enumerator | |
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COLORS_MONO | |
COLORS_RGB_RANDOM |
Definition at line 263 of file point_cloud_image_extractors.h.
Enumerator | |
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Bilinear | |
EdgeAware | |
EdgeAwareWeighted |
Definition at line 55 of file openni_image_bayer_grbg.h.
Enumerator | |
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OpenNI_shift_values | |
OpenNI_12_bit_depth |
Definition at line 72 of file openni_device.h.
Enumerator | |
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BAYER_GRBG | |
YUV422 | |
RGB |
Definition at line 64 of file openni_image.h.
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protected |
Enumerator | |
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BLOCK_0_TO_31 | |
BLOCK_32_TO_63 |
Definition at line 176 of file hdl_grabber.h.
Enumerator | |
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OpenNI_Default_Mode | |
OpenNI_SXGA_15Hz | |
OpenNI_VGA_30Hz | |
OpenNI_VGA_25Hz | |
OpenNI_QVGA_25Hz | |
OpenNI_QVGA_30Hz | |
OpenNI_QVGA_60Hz | |
OpenNI_QQVGA_25Hz | |
OpenNI_QQVGA_30Hz | |
OpenNI_QQVGA_60Hz |
Definition at line 75 of file openni_grabber.h.
Supported modes for grabbing from a PXC device.
Enumerator | |
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PXC_Default_Mode |
Definition at line 83 of file pxc_grabber.h.
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protected |
enum pcl::io::PointCloudImageExtractorWithScaling::ScalingMethod |
Different scaling methods.
Enumerator | |
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SCALING_NO | |
SCALING_FULL_RANGE | |
SCALING_FIXED_FACTOR |
Definition at line 123 of file point_cloud_image_extractors.h.
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inlinestatic |
Convert point cloud to disparity image.
[in] | cloud_arg | input point cloud |
[in] | focalLength_arg | focal length |
[in] | disparityShift_arg | disparity shift |
[in] | disparityScale_arg | disparity scaling |
[out] | disparityData_arg | output disparity image |
Definition at line 96 of file organized_pointcloud_conversion.h.
References pcl::isFinite(), and pcl::PointCloud< PointT >::points.
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inlinestatic |
Convert disparity image to point cloud.
[in] | disparityData_arg | input depth image |
[in] | width_arg | width of disparity image |
[in] | height_arg | height of disparity image |
[in] | focalLength_arg | focal length |
[in] | disparityShift_arg | disparity shift |
[in] | disparityScale_arg | disparity scaling |
[out] | cloud_arg | output point cloud |
Definition at line 142 of file organized_pointcloud_conversion.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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inlinestatic |
Convert disparity image to point cloud.
[in] | depthData_arg | input depth image |
[in] | width_arg | width of disparity image |
[in] | height_arg | height of disparity image |
[in] | focalLength_arg | focal length |
[out] | cloud_arg | output point cloud |
Definition at line 213 of file organized_pointcloud_conversion.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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inlinestatic |
Convert point cloud to disparity image and rgb image.
[in] | cloud_arg | input point cloud |
[in] | focalLength_arg | focal length |
[in] | disparityShift_arg | disparity shift |
[in] | disparityScale_arg | disparity scaling |
[in] | convertToMono | convert color to mono/grayscale |
[out] | disparityData_arg | output disparity image |
[out] | rgbData_arg | output rgb image |
Definition at line 291 of file organized_pointcloud_conversion.h.
References pcl::isFinite(), and pcl::PointCloud< PointT >::points.
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inlinestatic |
Convert disparity image to point cloud.
[in] | disparityData_arg | output disparity image |
[in] | rgbData_arg | output rgb image |
[in] | monoImage_arg | input image is a single-channel mono image |
[in] | width_arg | width of disparity image |
[in] | height_arg | height of disparity image |
[in] | focalLength_arg | focal length |
[in] | disparityShift_arg | disparity shift |
[in] | disparityScale_arg | disparity scaling |
[out] | cloud_arg | output point cloud |
Definition at line 383 of file organized_pointcloud_conversion.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
|
inlinestatic |
Convert disparity image to point cloud.
[in] | depthData_arg | output disparity image |
[in] | rgbData_arg | output rgb image |
[in] | monoImage_arg | input image is a single-channel mono image |
[in] | width_arg | width of disparity image |
[in] | height_arg | height of disparity image |
[in] | focalLength_arg | focal length |
[out] | cloud_arg | output point cloud |
Definition at line 503 of file organized_pointcloud_conversion.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
PCL_EXPORTS void pcl::io::decodePNGToImage | ( | std::vector< uint8_t > & | pngData_arg, |
std::vector< uint8_t > & | imageData_arg, | ||
size_t & | width_arg, | ||
size_t & | heigh_argt, | ||
unsigned int & | channels_arg | ||
) |
Decode compressed PNG to 8-bit image.
[in] | pngData | PNG compressed input data |
[in] | imageData | image output data |
[out] | width | image width |
[out] | height | image height |
[out] | channels | number of channels |
Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::decodePointCloud().
PCL_EXPORTS void pcl::io::decodePNGToImage | ( | std::vector< uint8_t > & | pngData_arg, |
std::vector< uint16_t > & | imageData_arg, | ||
size_t & | width_arg, | ||
size_t & | height_arg, | ||
unsigned int & | channels_arg | ||
) |
Decode compressed PNG to 16-bit image.
[in] | pngData | PNG compressed input data |
[in] | imageData | image output data |
[out] | width | image width |
[out] | height | image height |
[out] | channels | number of channels |
PCL_EXPORTS void pcl::io::encodeMonoImageToPNG | ( | std::vector< uint8_t > & | image_arg, |
size_t | width_arg, | ||
size_t | height_arg, | ||
std::vector< uint8_t > & | pngData_arg, | ||
int | png_level_arg = -1 |
||
) |
Encodes 8-bit mono image to PNG format.
[in] | image_arg | input image data |
[in] | width_arg | image width |
[in] | height_arg | image height |
[out] | pngData | PNG compressed image data |
[in] | png_level_arg | zLib compression level (default level: -1) |
Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud(), and pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage().
PCL_EXPORTS void pcl::io::encodeMonoImageToPNG | ( | std::vector< uint16_t > & | image_arg, |
size_t | width_arg, | ||
size_t | height_arg, | ||
std::vector< uint8_t > & | pngData_arg, | ||
int | png_level_arg = -1 |
||
) |
Encodes 16-bit mono image to PNG format.
[in] | image_arg | input image data |
[in] | width_arg | image width |
[in] | height_arg | image height |
[out] | pngData | PNG compressed image data |
[in] | png_level_arg | zLib compression level (default level: -1) |
PCL_EXPORTS void pcl::io::encodeRGBImageToPNG | ( | std::vector< uint8_t > & | image_arg, |
size_t | width_arg, | ||
size_t | height_arg, | ||
std::vector< uint8_t > & | pngData_arg, | ||
int | png_level_arg = -1 |
||
) |
Encodes 8-bit RGB image to PNG format.
[in] | image_arg | input image data |
[in] | width_arg | image width |
[in] | height_arg | image height |
[out] | pngData | PNG compressed image data |
[in] | png_level_arg | zLib compression level (default level: -1) |
Referenced by pcl::io::OrganizedPointCloudCompression< PointT >::encodePointCloud(), and pcl::io::OrganizedPointCloudCompression< PointT >::encodeRawDisparityMapWithColorImage().
PCL_EXPORTS void pcl::io::encodeRGBImageToPNG | ( | std::vector< uint16_t > & | image_arg, |
size_t | width_arg, | ||
size_t | height_arg, | ||
std::vector< uint8_t > & | pngData_arg, | ||
int | png_level_arg = -1 |
||
) |
Encodes 16-bit RGB image to PNG format.
[in] | image_arg | input image data |
[in] | width_arg | image width |
[in] | height_arg | image height |
[out] | pngData | PNG compressed image data |
[in] | png_level_arg | zLib compression level (default level: -1) |
|
inline |
Load a PCD v.6 file into a templated PointCloud type.
Any PCD files > v.6 will generate a warning as a pcl/PCLPointCloud2 message cannot hold the sensor origin.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
Definition at line 512 of file pcd_io.h.
References pcl::PCDReader::read().
Referenced by ObjectRecognition::populateDatabase(), and pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::read().
|
inline |
Load any PCD file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
[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) |
Definition at line 527 of file pcd_io.h.
References pcl::PCDReader::read().
|
inline |
Load any PCD file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[out] | cloud | the resultant templated point cloud |
Definition at line 541 of file pcd_io.h.
References pcl::PCDReader::read().
|
inline |
Load a PLY v.6 file into a templated PointCloud type.
Any PLY files containg sensor data will generate a warning as a pcl/PCLPointCloud2 message cannot hold the sensor origin.
[in] | file_name | the name of the file to load |
[in] | cloud | the resultant templated point cloud |
Definition at line 800 of file ply_io.h.
References pcl::PLYReader::read().
|
inline |
Load any PLY file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[in] | cloud | the resultant templated point cloud |
[in] | origin | the sensor acquisition origin (only for > PLY_V7 - null if not present) |
[in] | orientation | the sensor acquisition orientation if availble, identity if not present |
Definition at line 815 of file ply_io.h.
References pcl::PLYReader::read().
|
inline |
Load any PLY file into a templated PointCloud type.
[in] | file_name | the name of the file to load |
[in] | cloud | the resultant templated point cloud |
Definition at line 829 of file ply_io.h.
References pcl::PLYReader::read().
PCL_EXPORTS int pcl::io::loadPolygonFile | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh | ||
) |
Load a PolygonMesh object given an input file name, based on the file extension.
[in] | file_name | the name of the file containing the polygon data |
[out] | mesh | the object that we want to load the data in |
PCL_EXPORTS int pcl::io::loadPolygonFileOBJ | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh | ||
) |
Load an OBJ file into a PolygonMesh object.
[in] | file_name | the name of the file that contains the data |
[out] | mesh | the object that we want to load the data in |
PCL_EXPORTS int pcl::io::loadPolygonFileOBJ | ( | const std::string & | file_name, |
pcl::TextureMesh & | mesh | ||
) |
Load an OBJ file into a TextureMesh object.
[in] | file_name | the name of the file that contains the data |
[out] | mesh | the object that we want to load the data in |
PCL_EXPORTS int pcl::io::loadPolygonFilePLY | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh | ||
) |
Load a PLY file into a PolygonMesh object.
[in] | file_name | the name of the file that contains the data |
[out] | mesh | the object that we want to load the data in |
PCL_EXPORTS int pcl::io::loadPolygonFileSTL | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh | ||
) |
Load an STL file into a PolygonMesh object.
[in] | file_name | the name of the file that contains the data |
[out] | mesh | the object that we want to load the data in |
PCL_EXPORTS int pcl::io::loadPolygonFileVTK | ( | const std::string & | file_name, |
pcl::PolygonMesh & | mesh | ||
) |
Load a VTK file into a PolygonMesh object.
[in] | file_name | the name of the file that contains the data |
[out] | mesh | the object that we want to load the data in |
pcl::io::PCL_DEPRECATED | ( | template< typename T > void | savePNGFileconst std::string &file_name, const pcl::PointCloud< T > &cloud, |
"pcl::io::savePNGFile<typename T> (file_name, cloud) is | deprecated, | ||
please use a new generic""function pcl::io::savePNGFile(file_name, cloud, field_name) with\"rgb\" as the field name." | |||
) |
Saves RGB fields of cloud as image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | point cloud to save |
pcl::io::PCL_DEPRECATED | ( | void | savePNGFileconst std::string &file_name, const pcl::PointCloud< pcl::PointXYZL > &cloud, |
"pcl::io::savePNGFile (file_name, cloud) is | deprecated, | ||
please use a new generic function""pcl::io::savePNGFile(file_name, cloud, field_name) with\"label\" as the field name." | |||
) |
Saves Labeled Point cloud as image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | point cloud to save |
Warning: Converts to 16 bit (for png), labels using more than 16 bits will cause problems
void pcl::io::pointCloudTovtkPolyData | ( | const pcl::PointCloud< PointT > & | cloud, |
vtkPolyData *const | polydata | ||
) |
Convert a pcl::PointCloud object to a VTK PolyData one.
[in] | cloud | the input pcl::PointCloud object |
[out] | polydata | the resultant VTK PolyData object |
Definition at line 280 of file vtk_lib_io.hpp.
References pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::size().
PCL_EXPORTS void pcl::io::pointCloudTovtkPolyData | ( | const pcl::PCLPointCloud2Ptr & | cloud, |
vtkSmartPointer< vtkPolyData > & | poly_data | ||
) |
Convert a PCLPointCloud2 object to a VTK PolyData object.
[in] | cloud | the input PCLPointCloud2Ptr object |
[out] | poly_data | the resultant VTK PolyData object |
void pcl::io::pointCloudTovtkStructuredGrid | ( | const pcl::PointCloud< PointT > & | cloud, |
vtkStructuredGrid *const | structured_grid | ||
) |
Convert a pcl::PointCloud object to a VTK StructuredGrid one.
[in] | cloud | the input pcl::PointCloud object |
[out] | structured_grid | the resultant VTK StructuredGrid object |
Definition at line 392 of file vtk_lib_io.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), and pcl::PointCloud< PointT >::width.
PCL_EXPORTS void pcl::io::saveCharPNGFile | ( | const std::string & | file_name, |
const unsigned char * | mono_image, | ||
int | width, | ||
int | height, | ||
int | channels | ||
) |
Saves 8-bit encoded image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | mono_image | image grayscale data |
[in] | width | image width |
[in] | height | image height |
[in] | channels | number of channels |
Referenced by pcl::io::savePNGFile(), and pcl::io::saveRgbPNGFile().
PCL_EXPORTS int pcl::io::saveOBJFile | ( | const std::string & | file_name, |
const pcl::TextureMesh & | tex_mesh, | ||
unsigned | precision = 5 |
||
) |
Saves a TextureMesh in ascii OBJ format.
[in] | file_name | the name of the file to write to disk |
[in] | tex_mesh | the texture mesh to save |
[in] | precision | the output ASCII precision |
PCL_EXPORTS int pcl::io::saveOBJFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh, | ||
unsigned | precision = 5 |
||
) |
Saves a PolygonMesh in ascii PLY format.
[in] | file_name | the name of the file to write to disk |
[in] | mesh | the polygonal mesh to save |
[in] | precision | the output ASCII precision default 5 |
|
inline |
Save point cloud data to a PCD file containing n-D points.
[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_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
Definition at line 563 of file pcd_io.h.
References pcl::PCDWriter::write().
|
inline |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
Definition at line 587 of file pcd_io.h.
References pcl::PCDWriter::write().
int pcl::io::savePCDFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
const std::vector< int > & | indices, | ||
const bool | binary_mode = false |
||
) |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | indices | the set of indices to save |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
Definition at line 650 of file pcd_io.h.
References pcl::PCDWriter::write().
|
inline |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
This version is to retain backwards compatibility.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Caution: PointCloud structures containing an RGB field have traditionally used packed float values to store RGB data. Storing a float as ASCII can introduce variations to the smallest bits, and thus significantly alter the data. This is a known issue, and the fix involves switching RGB data to be stored as a packed integer in future versions of PCL.
Definition at line 610 of file pcd_io.h.
References pcl::PCDWriter::write().
|
inline |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
The resulting file will be an uncompressed binary.
This version is to retain backwards compatibility.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Definition at line 626 of file pcd_io.h.
References pcl::PCDWriter::write().
|
inline |
Templated version for saving point cloud data to a PCD file containing a specific given cloud format.
This method will write a compressed binary file.
This version is to retain backwards compatibility.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Definition at line 671 of file pcd_io.h.
References pcl::PCDWriter::writeBinaryCompressed().
|
inline |
Save point cloud data to a PLY file containing n-D points.
[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] | binary_mode | true for binary mode, false (default) for ASCII |
Definition at line 844 of file ply_io.h.
References pcl::PLYWriter::write().
|
inline |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Definition at line 861 of file ply_io.h.
References pcl::PLYWriter::write().
int pcl::io::savePLYFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
const std::vector< int > & | indices, | ||
bool | binary_mode = false |
||
) |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
[in] | indices | the set of indices to save |
[in] | binary_mode | true for binary mode, false (default) for ASCII |
Definition at line 900 of file ply_io.h.
References pcl::copyPointCloud(), and pcl::PLYWriter::write().
PCL_EXPORTS int pcl::io::savePLYFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh, | ||
unsigned | precision = 5 |
||
) |
Saves a PolygonMesh in ascii PLY format.
[in] | file_name | the name of the file to write to disk |
[in] | mesh | the polygonal mesh to save |
[in] | precision | the output ASCII precision default 5 |
|
inline |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Definition at line 874 of file ply_io.h.
References pcl::PLYWriter::write().
|
inline |
Templated version for saving point cloud data to a PLY file containing a specific given cloud format.
[in] | file_name | the output file name |
[in] | cloud | the point cloud data message |
Definition at line 886 of file ply_io.h.
References pcl::PLYWriter::write().
PCL_EXPORTS int pcl::io::savePLYFileBinary | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh | ||
) |
Saves a PolygonMesh in binary PLY format.
[in] | file_name | the name of the file to write to disk |
[in] | mesh | the polygonal mesh to save |
void pcl::io::savePNGFile | ( | const std::string & | file_name, |
const pcl::PointCloud< unsigned char > & | cloud | ||
) |
Saves 8-bit grayscale cloud as image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | point cloud to save |
Definition at line 96 of file png_io.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::io::saveCharPNGFile(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::io::savePNGFile().
void pcl::io::savePNGFile | ( | const std::string & | file_name, |
const pcl::PointCloud< unsigned short > & | cloud | ||
) |
Saves 16-bit grayscale cloud as image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | point cloud to save |
Definition at line 107 of file png_io.h.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::io::saveShortPNGFile(), and pcl::PointCloud< PointT >::width.
void pcl::io::savePNGFile | ( | const std::string & | file_name, |
const pcl::PCLImage & | image | ||
) |
Saves a PCLImage (formely ROS sensor_msgs::Image) to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | image | image to save |
Definition at line 119 of file png_io.h.
References pcl::PCLImage::data, pcl::PCLImage::encoding, pcl::PCLImage::height, pcl::io::saveCharPNGFile(), pcl::io::saveRgbPNGFile(), pcl::io::saveShortPNGFile(), and pcl::PCLImage::width.
void pcl::io::savePNGFile | ( | const std::string & | file_name, |
const pcl::PointCloud< PointT > & | cloud, | ||
const std::string & | field_name | ||
) |
Saves the data from the specified field of the point cloud as image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | point cloud to save |
[in] | field_name | the name of the field to extract data from |
Definition at line 190 of file png_io.h.
References pcl::io::savePNGFile().
PCL_EXPORTS int pcl::io::savePolygonFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh | ||
) |
Save a PolygonMesh object given an input file name, based on the file extension.
[in] | file_name | the name of the file to save the data to |
[in] | mesh | the object that contains the data |
PCL_EXPORTS int pcl::io::savePolygonFilePLY | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh | ||
) |
Save a PolygonMesh object into a PLY file.
[in] | file_name | the name of the file to save the data to |
[in] | mesh | the object that contains the data |
PCL_EXPORTS int pcl::io::savePolygonFileSTL | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh | ||
) |
Save a PolygonMesh object into an STL file.
[in] | file_name | the name of the file to save the data to |
[in] | mesh | the object that contains the data |
PCL_EXPORTS int pcl::io::savePolygonFileVTK | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | mesh | ||
) |
Save a PolygonMesh object into a VTK file.
[in] | file_name | the name of the file to save the data to |
[in] | mesh | the object that contains the data |
PCL_EXPORTS void pcl::io::saveRangeImagePlanarFilePNG | ( | const std::string & | file_name, |
const pcl::RangeImagePlanar & | range_image | ||
) |
Write a RangeImagePlanar object to a PNG file.
[in] | file_name | the name of the file to save the data to |
[in] | range_image | the object that contains the data |
PCL_EXPORTS void pcl::io::saveRgbPNGFile | ( | const std::string & | file_name, |
const unsigned char * | rgb_image, | ||
int | width, | ||
int | height | ||
) |
Saves 8-bit encoded RGB image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | rgb_image | image rgb data |
[in] | width | image width |
[in] | height | image height |
Definition at line 85 of file png_io.h.
References pcl::io::saveCharPNGFile().
Referenced by pcl::io::savePNGFile().
PCL_EXPORTS void pcl::io::saveShortPNGFile | ( | const std::string & | file_name, |
const unsigned short * | short_image, | ||
int | width, | ||
int | height, | ||
int | channels | ||
) |
Saves 16-bit encoded image to PNG file.
[in] | file_name | the name of the file to write to disk |
[in] | short_image | image short data |
[in] | width | image width |
[in] | height | image height |
[in] | channels | number of channels |
Referenced by pcl::io::savePNGFile().
PCL_EXPORTS int pcl::io::saveVTKFile | ( | const std::string & | file_name, |
const pcl::PolygonMesh & | triangles, | ||
unsigned | precision = 5 |
||
) |
Saves a PolygonMesh in ascii VTK format.
[in] | file_name | the name of the file to write to disk |
[in] | triangles | the polygonal mesh to save |
[in] | precision | the output ASCII precision |
PCL_EXPORTS int pcl::io::saveVTKFile | ( | const std::string & | file_name, |
const pcl::PCLPointCloud2 & | cloud, | ||
unsigned | precision = 5 |
||
) |
Saves a PointCloud in ascii VTK format.
[in] | file_name | the name of the file to write to disk |
[in] | cloud | the point cloud to save |
[in] | precision | the output ASCII precision |
void pcl::io::vtkPolyDataToPointCloud | ( | vtkPolyData *const | polydata, |
pcl::PointCloud< PointT > & | cloud | ||
) |
Convert a VTK PolyData object to a pcl::PointCloud one.
[in] | polydata | the input VTK PolyData object |
[out] | cloud | the resultant pcl::PointCloud object |
Definition at line 65 of file vtk_lib_io.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
void pcl::io::vtkStructuredGridToPointCloud | ( | vtkStructuredGrid *const | structured_grid, |
pcl::PointCloud< PointT > & | cloud | ||
) |
Convert a VTK StructuredGrid object to a pcl::PointCloud one.
[in] | structured_grid | the input VTK StructuredGrid object |
[out] | cloud | the resultant pcl::PointCloud object |
Definition at line 154 of file vtk_lib_io.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.