38 #ifndef PCL_IO_IFS_IO_H_ 39 #define PCL_IO_IFS_IO_H_ 41 #include <pcl/point_cloud.h> 42 #include <pcl/PCLPointCloud2.h> 43 #include <pcl/conversions.h> 44 #include <pcl/io/boost.h> 45 #include <pcl/PolygonMesh.h> 89 int &ifs_version,
unsigned int &data_idx);
124 template<
typename Po
intT>
int 131 int res =
read (file_name, blob, ifs_version);
161 const std::string &cloud_name =
"cloud");
172 template<
typename Po
intT>
int 174 const std::string &cloud_name =
"cloud")
177 pcl::toPCLPointCloud2<PointT> (cloud, blob);
178 return (write (file_name, blob, cloud_name));
196 return (p.
read (file_name, cloud, ifs_version));
206 template<
typename Po
intT>
inline int 225 return (p.
read (file_name, mesh, ifs_version));
239 return (w.
write (file_name, cloud));
249 template<
typename Po
intT>
int 258 #endif //#ifndef PCL_IO_IFS_IO_H_ void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map...
int loadIFSFile(const std::string &file_name, pcl::PolygonMesh &mesh)
Load any IFS file into a PolygonMesh type.
This file defines compatibility wrappers for low level I/O functions.
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
IFSReader()
Empty constructor.
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
int saveIFSFile(const std::string &file_name, const pcl::PointCloud< PointT > &cloud)
Save point cloud data to an IFS file containing 3D points.
Indexed Face set (IFS) file format reader.
int read(const std::string &file_name, pcl::PointCloud< PointT > &cloud)
Read a point cloud data from an IFS file, and convert it to the given template pcl::PointCloud format...
int read(const std::string &file_name, pcl::PCLPointCloud2 &cloud, int &ifs_version)
Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.
~IFSReader()
Empty destructor.
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Point Cloud Data (IFS) file format writer.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
int write(const std::string &file_name, const pcl::PointCloud< PointT > &cloud, const std::string &cloud_name="cloud")
Save point cloud data to an IFS file containing 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
int write(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const std::string &cloud_name="cloud")
Save point cloud data to an IFS file containing 3D points.