cloud_io.h

Functions

Eigen::Matrix<float, Eigen::Dynamic, 3> ouster::core::read_pointcloud(const std::string &filename)

[BETA] Load the 3D X Y and Z points from a PCD or PLY file and returns them an Nx3 matrix.

Remark

this is a beta feature and may change in future releases.

Parameters:

filename – [in] filename to load

Throws:

std::runtime_error – if unable to open or parse file

Returns:

Nx3 matrix of the resulting points