Ascii Point Cloud Reader. Read any ASCII file by setting the separating characters and input point fields. More...

#include <ascii_io.h>

Inheritance diagram for pcl::ASCIIReader:

Public Member Functions
	ASCIIReader ()
virtual 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.
virtual int	readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, int &data_type, unsigned int &data_idx, const int offset=0)
	Read a point cloud data header from a FILE file.
void	setExtension (const std::string &ext)
	Set the extension of the ascii point file type.
void	setInputFields (const std::vector< pcl::PCLPointField > &fields)
	Set the ascii file point fields using a list of fields.
template<typename PointT >
void	setInputFields (const PointT p=PointT())
	Set the ascii file point fields using a point type.
void	setSepChars (const std::string &chars)
	Set the Separting characters for the ascii point fields 2.
virtual	~ASCIIReader ()
Protected Member Functions
int	parse (const std::string &token, const pcl::PCLPointField &field, uint8_t *data_target)
	Parses token based on field type.
uint32_t	typeSize (int type)
	Returns the size in bytes of a point field type.
Protected Attributes
std::string	extension_
std::vector< pcl::PCLPointField >	fields_
std::string	name_
std::string	sep_chars_

Detailed Description

Ascii Point Cloud Reader. Read any ASCII file by setting the separating characters and input point fields.

Author:: Adam Stambler (adasta@gmail.com)

Definition at line 54 of file ascii_io.h.

Constructor & Destructor Documentation

pcl::ASCIIReader::ASCIIReader ( )

Definition at line 46 of file ascii_io.cpp.

pcl::ASCIIReader::~ASCIIReader ( ) [virtual]

Definition at line 81 of file ascii_io.cpp.

Member Function Documentation

int pcl::ASCIIReader::parse	(	const std::string &	token,
		const pcl::PCLPointField &	field,
		uint8_t *	data_target
	)		`[protected]`

Parses token based on field type.

Parameters:

[in]	token	string representation of point fields
[in]	field	token point field type
[out]	data_target	address that the point field data should be assigned to returns the size of the parsed point field in bytes

Definition at line 195 of file ascii_io.cpp.

int pcl::ASCIIReader::read	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	file_version,
		const int	offset = `0`
	)		`[virtual]`

Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.

Parameters:

[in]	file_name	the name of the file containing the actual PointCloud data
[out]	cloud	the resultant PointCloud message read from disk
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

Definition at line 131 of file ascii_io.cpp.

int pcl::ASCIIReader::readHeader	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	file_version,
		int &	data_type,
		unsigned int &	data_idx,
		const int	offset = `0`
	)		`[virtual]`

Read a point cloud data header from a FILE file.

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.

Returns: * < 0 (-1) on error * > 0 on success

Parameters:

[in]	file_name	the name of the file to load
[out]	cloud	the resultant point cloud dataset (only the header will be filled)
[out]	origin	the sensor acquisition origin (only for > FILE_V7 - null if not present)
[out]	orientation	the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
[out]	file_version	the FILE version of the file (either FILE_V6 or FILE_V7)
[out]	data_type	the type of data (binary data=1, ascii=0, etc)
[out]	data_idx	the offset of cloud data within the file
[in]	offset	the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Implements pcl::FileReader.

Definition at line 87 of file ascii_io.cpp.

void pcl::ASCIIReader::setExtension ( const std::string & ext ) [inline]

Set the extension of the ascii point file type.

Parameters:

[in] ext extension (example : ".txt" or ".xyz" )

Definition at line 130 of file ascii_io.h.

void pcl::ASCIIReader::setInputFields ( const std::vector< pcl::PCLPointField > & fields )

Set the ascii file point fields using a list of fields.

Parameters:

[in] fields is a list of point fields, in order, in the input ascii file

Definition at line 181 of file ascii_io.cpp.

template<typename PointT >

void pcl::ASCIIReader::setInputFields ( const PointT p = PointT () )

Set the ascii file point fields using a point type.

Parameters:

[in] p a point type

Definition at line 159 of file ascii_io.h.

void pcl::ASCIIReader::setSepChars ( const std::string & chars )

Set the Separting characters for the ascii point fields 2.

Parameters:

[in] chars string of separating characters Sets the separating characters for the point fields. The default separating characters are " \n\t,"

Definition at line 188 of file ascii_io.cpp.

boost::uint32_t pcl::ASCIIReader::typeSize ( int type ) [protected]

Returns the size in bytes of a point field type.

Parameters:

[in] type point field type returns the size of the type in bytes

Definition at line 248 of file ascii_io.cpp.

Member Data Documentation

std::string pcl::ASCIIReader::extension_ [protected]

Definition at line 134 of file ascii_io.h.

std::vector<pcl::PCLPointField> pcl::ASCIIReader::fields_ [protected]

Definition at line 135 of file ascii_io.h.

std::string pcl::ASCIIReader::name_ [protected]

Definition at line 136 of file ascii_io.h.

std::string pcl::ASCIIReader::sep_chars_ [protected]

Definition at line 133 of file ascii_io.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation