790 lines
36 KiB
C++
790 lines
36 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/point_cloud.h>
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#include <pcl/io/file_io.h>
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#include <boost/interprocess/sync/file_lock.hpp> // for file_lock
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namespace pcl
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{
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/** \brief Point Cloud Data (PCD) file format reader.
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* \author Radu B. Rusu
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* \ingroup io
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*/
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class PCL_EXPORTS PCDReader : public FileReader
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{
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public:
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/** Empty constructor */
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PCDReader () {}
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/** Empty destructor */
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~PCDReader () {}
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/** \brief Various PCD file versions.
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*
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* PCD_V6 represents PCD files with version 0.6, which contain the following fields:
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* - lines beginning with # are treated as comments
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* - FIELDS ...
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* - SIZE ...
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* - TYPE ...
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* - COUNT ...
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* - WIDTH ...
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* - HEIGHT ...
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* - POINTS ...
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* - DATA ascii/binary
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*
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* Everything that follows \b DATA is interpreted as data points and
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* will be read accordingly.
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*
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* PCD_V7 represents PCD files with version 0.7 and has an important
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* addon: it adds sensor origin/orientation (aka viewpoint) information
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* to a dataset through the use of a new header field:
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* - VIEWPOINT tx ty tz qw qx qy qz
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*/
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enum
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{
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PCD_V6 = 0,
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PCD_V7 = 1
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};
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/** \brief Read a point cloud data header from a PCD-formatted, binary istream.
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*
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* Load only the meta information (number of points, their types, etc),
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* and not the points themselves, from a given PCD stream. Useful for fast
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* evaluation of the underlying data structure.
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*
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* \attention The PCD data is \b always stored in ROW major format! The
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* read/write PCD methods will detect column major input and automatically convert it.
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*
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* \param[in] binary_istream a std::istream with openmode set to std::ios::binary.
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* \param[out] cloud the resultant point cloud dataset (only these
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* members will be filled: width, height, point_step,
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* row_step, fields[]; data is resized but not written)
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* \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
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* \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
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* \param[out] pcd_version the PCD version of the file (i.e., PCD_V6, PCD_V7)
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* \param[out] data_type the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
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* \param[out] data_idx the offset of cloud data within the file
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readHeader (std::istream &binary_istream, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version,
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int &data_type, unsigned int &data_idx);
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/** \brief Read a point cloud data header from a PCD file.
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*
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* Load only the meta information (number of points, their types, etc),
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* and not the points themselves, from a given PCD file. Useful for fast
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* evaluation of the underlying data structure.
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*
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* \attention The PCD data is \b always stored in ROW major format! The
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* read/write PCD methods will detect column major input and automatically convert it.
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*
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant point cloud dataset (only these
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* members will be filled: width, height, point_step,
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* row_step, fields[]; data is resized but not written)
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* \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
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* \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
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* \param[out] pcd_version the PCD version of the file (i.e., PCD_V6, PCD_V7)
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* \param[out] data_type the type of data (0 = ASCII, 1 = Binary, 2 = Binary compressed)
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* \param[out] data_idx the offset of cloud data within the file
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* \param[in] offset the offset of where to expect the PCD Header in the
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* file (optional parameter). One usage example for setting the offset
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* parameter is for reading data from a TAR "archive containing multiple
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* PCD files: TAR files always add a 512 byte header in front of the
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* actual file, so set the offset to the next byte after the header
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* (e.g., 513).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version,
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int &data_type, unsigned int &data_idx, const int offset = 0) override;
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/** \brief Read a point cloud data header from a PCD file.
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*
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* Load only the meta information (number of points, their types, etc),
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* and not the points themselves, from a given PCD file. Useful for fast
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* evaluation of the underlying data structure.
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*
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* \attention The PCD data is \b always stored in ROW major format! The
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* read/write PCD methods will detect column major input and automatically convert it.
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*
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant point cloud dataset (only these
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* members will be filled: width, height, point_step,
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* row_step, fields[]; data is resized but not written)
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* \param[in] offset the offset of where to expect the PCD Header in the
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* file (optional parameter). One usage example for setting the offset
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* parameter is for reading data from a TAR "archive containing multiple
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* PCD files: TAR files always add a 512 byte header in front of the
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* actual file, so set the offset to the next byte after the header
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* (e.g., 513).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0);
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/** \brief Read the point cloud data (body) from a PCD stream.
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*
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* Reads the cloud points from a text-formatted stream. For use after
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* readHeader(), when the resulting data_type == 0.
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*
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* \attention This assumes the stream has been seeked to the position
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* indicated by the data_idx result of readHeader().
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*
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* \param[in] stream the stream from which to read the body.
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* \param[out] cloud the resultant point cloud dataset to be filled.
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* \param[in] pcd_version the PCD version of the stream (from readHeader()).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readBodyASCII (std::istream &stream, pcl::PCLPointCloud2 &cloud, int pcd_version);
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/** \brief Read the point cloud data (body) from a block of memory.
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*
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* Reads the cloud points from a binary-formatted memory block. For use
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* after readHeader(), when the resulting data_type is nonzero.
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*
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* \param[in] data the memory location from which to read the body.
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* \param[out] cloud the resultant point cloud dataset to be filled.
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* \param[in] pcd_version the PCD version of the stream (from readHeader()).
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* \param[in] compressed indicates whether the PCD block contains compressed
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* data. This should be true if the data_type returne by readHeader() == 2.
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* \param[in] data_idx the offset of the body, as reported by readHeader().
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readBodyBinary (const unsigned char *data, pcl::PCLPointCloud2 &cloud,
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int pcd_version, bool compressed, unsigned int data_idx);
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/** \brief Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
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* \param[out] orientation the sensor acquisition orientation (only for > PCD_V7 - identity if not present)
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* \param[out] pcd_version the PCD version of the file (either PCD_V6 or PCD_V7)
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* \param[in] offset the offset of where to expect the PCD Header in the
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* file (optional parameter). One usage example for setting the offset
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* parameter is for reading data from a TAR "archive containing multiple
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* PCD files: TAR files always add a 512 byte header in front of the
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* actual file, so set the offset to the next byte after the header
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* (e.g., 513).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version, const int offset = 0) override;
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/** \brief Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.
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*
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* \note This function is provided for backwards compatibility only and
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* it can only read PCD_V6 files correctly, as pcl::PCLPointCloud2
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* does not contain a sensor origin/orientation. Reading any file
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* > PCD_V6 will generate a warning.
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*
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[in] offset the offset of where to expect the PCD Header in the
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* file (optional parameter). One usage example for setting the offset
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* parameter is for reading data from a TAR "archive containing multiple
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* PCD files: TAR files always add a 512 byte header in front of the
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* actual file, so set the offset to the next byte after the header
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* (e.g., 513).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0);
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/** \brief Read a point cloud data from any PCD file, and convert it to the given template format.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[in] offset the offset of where to expect the PCD Header in the
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* file (optional parameter). One usage example for setting the offset
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* parameter is for reading data from a TAR "archive containing multiple
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* PCD files: TAR files always add a 512 byte header in front of the
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* actual file, so set the offset to the next byte after the header
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* (e.g., 513).
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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template<typename PointT> int
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read (const std::string &file_name, pcl::PointCloud<PointT> &cloud, const int offset = 0)
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{
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pcl::PCLPointCloud2 blob;
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int pcd_version;
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int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
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pcd_version, offset);
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// If no error, convert the data
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if (res == 0)
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pcl::fromPCLPointCloud2 (blob, cloud);
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return (res);
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}
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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/** \brief Point Cloud Data (PCD) file format writer.
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* \author Radu Bogdan Rusu
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* \ingroup io
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*/
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class PCL_EXPORTS PCDWriter : public FileWriter
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{
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public:
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PCDWriter() : map_synchronization_(false) {}
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~PCDWriter() {}
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/** \brief Set whether mmap() synchornization via msync() is desired before munmap() calls.
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* Setting this to true could prevent NFS data loss (see
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* http://www.pcl-developers.org/PCD-IO-consistency-on-NFS-msync-needed-td4885942.html).
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* Default: false
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* \note This option should be used by advanced users only!
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* \note Please note that using msync() on certain systems can reduce the I/O performance by up to 80%!
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* \param[in] sync set to true if msync() should be called before munmap()
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*/
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void
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setMapSynchronization (bool sync)
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{
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map_synchronization_ = sync;
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}
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/** \brief Generate the header of a PCD file format
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*/
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std::string
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generateHeaderBinary (const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin,
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const Eigen::Quaternionf &orientation);
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/** \brief Generate the header of a BINARY_COMPRESSED PCD file format
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* \param[out] os the stream into which to write the header
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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generateHeaderBinaryCompressed (std::ostream &os,
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const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin,
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const Eigen::Quaternionf &orientation);
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/** \brief Generate the header of a BINARY_COMPRESSED PCD file format
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*/
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std::string
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generateHeaderBinaryCompressed (const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin,
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const Eigen::Quaternionf &orientation);
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/** \brief Generate the header of a PCD file format
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*/
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std::string
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generateHeaderASCII (const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin,
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const Eigen::Quaternionf &orientation);
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/** \brief Generate the header of a PCD file format
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* \param[in] cloud the point cloud data message
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* \param[in] nr_points if given, use this to fill in WIDTH, HEIGHT (=1), and POINTS in the header
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* By default, nr_points is set to INTMAX, and the data in the header is used instead.
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*/
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template <typename PointT> static std::string
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generateHeader (const pcl::PointCloud<PointT> &cloud,
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const int nr_points = std::numeric_limits<int>::max ());
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/** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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* \param[in] precision the specified output numeric stream precision (default: 8)
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*
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* Caution: PointCloud structures containing an RGB field have
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* traditionally used packed float values to store RGB data. Storing a
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* float as ASCII can introduce variations to the smallest bits, and
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* thus significantly alter the data. This is a known issue, and the fix
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* involves switching RGB data to be stored as a packed integer in
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* future versions of PCL.
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*
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* As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.
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*/
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int
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writeASCII (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
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const int precision = 8);
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/** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*/
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int
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writeBinary (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
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/** \brief Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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* \return
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* (-1) for a general error
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* (-2) if the input cloud is too large for the file format
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* 0 on success
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*/
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int
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writeBinaryCompressed (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
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/** \brief Save point cloud data to a std::ostream containing n-D points, in BINARY_COMPRESSED format
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* \param[out] os the stream into which to write the data
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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* \return
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* (-1) for a general error
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* (-2) if the input cloud is too large for the file format
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* 0 on success
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*/
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int
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writeBinaryCompressed (std::ostream &os, const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());
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/** \brief Save point cloud data to a PCD file containing n-D points
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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* \param[in] binary set to true if the file is to be written in a binary
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* PCD format, false (default) for ASCII
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*
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* Caution: PointCloud structures containing an RGB field have
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* 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.
|
|
*
|
|
* As an intermediary solution, precision 8 is used, which guarantees lossless storage for RGB.
|
|
*/
|
|
inline 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) override
|
|
{
|
|
if (binary)
|
|
return (writeBinary (file_name, cloud, origin, orientation));
|
|
return (writeASCII (file_name, cloud, origin, orientation, 8));
|
|
}
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message (boost shared pointer)
|
|
* \param[in] binary set to true if the file is to be written in a binary PCD format,
|
|
* false (default) for ASCII
|
|
* \param[in] origin the sensor acquisition origin
|
|
* \param[in] orientation the sensor acquisition orientation
|
|
*
|
|
* 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.
|
|
*/
|
|
inline 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 (),
|
|
const bool binary = false)
|
|
{
|
|
return (write (file_name, *cloud, origin, orientation, binary));
|
|
}
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
*/
|
|
template <typename PointT> int
|
|
writeBinary (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud);
|
|
|
|
/** \brief Save point cloud data to a binary comprssed PCD file
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \return
|
|
* (-1) for a general error
|
|
* (-2) if the input cloud is too large for the file format
|
|
* 0 on success
|
|
*/
|
|
template <typename PointT> int
|
|
writeBinaryCompressed (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud);
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points, in BINARY format
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[in] indices the set of point indices that we want written to disk
|
|
*/
|
|
template <typename PointT> int
|
|
writeBinary (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const pcl::Indices &indices);
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[in] precision the specified output numeric stream precision (default: 8)
|
|
*/
|
|
template <typename PointT> int
|
|
writeASCII (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const int precision = 8);
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points, in ASCII format
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[in] indices the set of point indices that we want written to disk
|
|
* \param[in] precision the specified output numeric stream precision (default: 8)
|
|
*/
|
|
template <typename PointT> int
|
|
writeASCII (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const pcl::Indices &indices,
|
|
const int precision = 8);
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the pcl::PointCloud data
|
|
* \param[in] binary set to true if the file is to be written in a binary
|
|
* PCD format, 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.
|
|
*/
|
|
template<typename PointT> inline int
|
|
write (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const bool binary = false)
|
|
{
|
|
if (binary)
|
|
return (writeBinary<PointT> (file_name, cloud));
|
|
return (writeASCII<PointT> (file_name, cloud));
|
|
}
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the pcl::PointCloud data
|
|
* \param[in] indices the set of point indices that we want written to disk
|
|
* \param[in] binary set to true if the file is to be written in a binary
|
|
* PCD format, 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.
|
|
*/
|
|
template<typename PointT> inline int
|
|
write (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const pcl::Indices &indices,
|
|
bool binary = false)
|
|
{
|
|
if (binary)
|
|
return (writeBinary<PointT> (file_name, cloud, indices));
|
|
return (writeASCII<PointT> (file_name, cloud, indices));
|
|
}
|
|
|
|
protected:
|
|
/** \brief Set permissions for file locking (Boost 1.49+).
|
|
* \param[in] file_name the file name to set permission for file locking
|
|
* \param[in,out] lock the file lock
|
|
*/
|
|
void
|
|
setLockingPermissions (const std::string &file_name,
|
|
boost::interprocess::file_lock &lock);
|
|
|
|
/** \brief Reset permissions for file locking (Boost 1.49+).
|
|
* \param[in] file_name the file name to reset permission for file locking
|
|
* \param[in,out] lock the file lock
|
|
*/
|
|
void
|
|
resetLockingPermissions (const std::string &file_name,
|
|
boost::interprocess::file_lock &lock);
|
|
|
|
private:
|
|
/** \brief Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems. */
|
|
bool map_synchronization_;
|
|
};
|
|
|
|
namespace io
|
|
{
|
|
/** \brief 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.
|
|
*
|
|
* \param[in] file_name the name of the file to load
|
|
* \param[out] cloud the resultant templated point cloud
|
|
* \ingroup io
|
|
*/
|
|
inline int
|
|
loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
|
|
{
|
|
pcl::PCDReader p;
|
|
return (p.read (file_name, cloud));
|
|
}
|
|
|
|
/** \brief Load any PCD file into a templated PointCloud type.
|
|
* \param[in] file_name the name of the file to load
|
|
* \param[out] cloud the resultant templated point cloud
|
|
* \param[out] origin the sensor acquisition origin (only for > PCD_V7 - null if not present)
|
|
* \param[out] orientation the sensor acquisition orientation (only for >
|
|
* PCD_V7 - identity if not present)
|
|
* \ingroup io
|
|
*/
|
|
inline int
|
|
loadPCDFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
|
|
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
|
|
{
|
|
pcl::PCDReader p;
|
|
int pcd_version;
|
|
return (p.read (file_name, cloud, origin, orientation, pcd_version));
|
|
}
|
|
|
|
/** \brief Load any PCD file into a templated PointCloud type
|
|
* \param[in] file_name the name of the file to load
|
|
* \param[out] cloud the resultant templated point cloud
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> inline int
|
|
loadPCDFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
|
|
{
|
|
pcl::PCDReader p;
|
|
return (p.read (file_name, cloud));
|
|
}
|
|
|
|
/** \brief Save point cloud data to a PCD file containing n-D points
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[in] origin the sensor acquisition origin
|
|
* \param[in] orientation the sensor acquisition orientation
|
|
* \param[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.
|
|
* \ingroup io
|
|
*/
|
|
inline int
|
|
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)
|
|
{
|
|
PCDWriter w;
|
|
return (w.write (file_name, cloud, origin, orientation, binary_mode));
|
|
}
|
|
|
|
/** \brief Templated version for saving point cloud data to a PCD file
|
|
* containing a specific given cloud format
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[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.
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> inline int
|
|
savePCDFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
|
|
{
|
|
PCDWriter w;
|
|
return (w.write<PointT> (file_name, cloud, binary_mode));
|
|
}
|
|
|
|
/**
|
|
* \brief Templated version for saving point cloud data to a PCD file
|
|
* containing a specific given cloud format.
|
|
*
|
|
* This version is to retain backwards compatibility.
|
|
* \param[in] file_name the output file name
|
|
* \param[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.
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> inline int
|
|
savePCDFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
|
|
{
|
|
PCDWriter w;
|
|
return (w.write<PointT> (file_name, cloud, false));
|
|
}
|
|
|
|
/**
|
|
* \brief 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.
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> inline int
|
|
savePCDFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
|
|
{
|
|
PCDWriter w;
|
|
return (w.write<PointT> (file_name, cloud, true));
|
|
}
|
|
|
|
/**
|
|
* \brief Templated version for saving point cloud data to a PCD file
|
|
* containing a specific given cloud format
|
|
*
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \param[in] indices the set of indices to save
|
|
* \param[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.
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> int
|
|
savePCDFile (const std::string &file_name,
|
|
const pcl::PointCloud<PointT> &cloud,
|
|
const pcl::Indices &indices,
|
|
const bool binary_mode = false)
|
|
{
|
|
// Save the data
|
|
PCDWriter w;
|
|
return (w.write<PointT> (file_name, cloud, indices, binary_mode));
|
|
}
|
|
|
|
|
|
/**
|
|
* \brief 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.
|
|
* \param[in] file_name the output file name
|
|
* \param[in] cloud the point cloud data message
|
|
* \ingroup io
|
|
*/
|
|
template<typename PointT> inline int
|
|
savePCDFileBinaryCompressed (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
|
|
{
|
|
PCDWriter w;
|
|
return (w.writeBinaryCompressed<PointT> (file_name, cloud));
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
#include <pcl/io/impl/pcd_io.hpp>
|