39 #include <pcl/pcl_macros.h>
40 #include <pcl/TextureMesh.h>
41 #include <pcl/PolygonMesh.h>
42 #include <pcl/io/file_io.h>
60 read (
const std::string& filename);
68 read (
const std::string& obj_file_name,
const std::string& mtl_file_name);
70 std::vector<pcl::TexMaterial>::const_iterator
71 getMaterial (
const std::string& material_name)
const;
87 Eigen::Matrix3f xyz_to_rgb_matrix_;
89 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
122 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
123 int &file_version,
int &data_type,
unsigned int &data_idx,
143 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
144 int &file_version,
const int offset = 0);
176 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
177 int &file_version,
const int offset = 0);
205 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
206 int &file_version,
const int offset = 0);
230 template<
typename Po
intT>
inline int
237 file_version, offset);
247 std::vector<pcl::MTLReader> companions_;
261 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
265 return (p.
read (file_name, cloud, origin, orientation, obj_version));
279 return (p.
read (file_name, cloud));
287 template<
typename Po
intT>
inline int
291 return (p.
read (file_name, cloud));
305 return (p.
read (file_name, mesh));
319 return (p.
read (file_name, mesh));
331 unsigned precision = 5);
342 unsigned precision = 5);
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud object using a field_map...
virtual ~OBJReader()
empty destructor
virtual ~MTLReader()
empty destructor
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
int read(const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)
Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
int loadOBJFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
Load any OBJ file into a templated PointCloud type.
int read(const std::string &file_name, pcl::PointCloud< PointT > &cloud, const int offset=0)
Read a point cloud data from any FILE file, and convert it to the given template format.
std::vector< pcl::TexMaterial > materials_
materials array
Point Cloud Data (FILE) file format reader interface.
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
PCL_EXPORTS int saveOBJFile(const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5)
Saves a TextureMesh in ascii OBJ format.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
OBJReader()
empty constructor