IO Functions and classes that are dependant on scalar type are defined in this templatized class. More...

#include <IO.h>

Classes
struct	CsvDescriptor
	A structure to hold information about descriptors contained in a CSV file. More...
struct	FileInfo
	Information to exploit a reading from a file using this library. Fields might be left blank if unused. More...
struct	FileInfoVector
	A vector of file info, to be used in batch processing. More...
class	LabelGenerator
	Generate a vector of Labels by checking for collision is the same name is reused. More...
class	PLYElement
	Interface for all PLY elements. More...
class	PLYElementF
	Factory for PLY elements. More...
struct	PLYProperty
	Interface for PLY property. More...
class	PLYVertex
	Implementation of PLY vertex element. More...
struct	SupportedLabel
	Structure containing all information required to map external information to PointMatcher internal representation. More...
Public Types
typedef PointMatcher< T > ::DataPoints	DataPoints
	alias
typedef PLYProperties::iterator	it_PLYProp
	Iterator for a vector of PLY properties.
typedef PointMatcher< T > ::DataPoints::Label	Label
	alias
typedef std::pair< int, std::string >	LabelAssociationPair
	Pair feature column, feature name.
typedef PointMatcher< T > ::DataPoints::Labels	Labels
	alias
typedef PointMatcher< T >::Matrix	Matrix
	alias
typedef PointMatcher< T >::Matrix	Parameters
	alias
typedef std::map< std::string, std::vector< PLYProperty > >	PLYDescPropMap
typedef std::vector< PLYProperty >	PLYProperties
	Vector of properties specific to PLY files.
enum	PMPropTypes { FEATURE, DESCRIPTOR, UNSUPPORTED }
	Type of information in a DataPoints. Each type is stored in its own dense matrix. More...
typedef std::map< std::string, LabelAssociationPair >	SublabelAssociationMap
typedef std::vector < SupportedLabel >	SupportedLabels
	Vector of supported labels in PointMatcher and their external names.
enum	SupportedVTKDataTypes { POLYDATA, UNSTRUCTURED_GRID }
	Enumeration of legacy VTK data types that can be parsed. More...
typedef PointMatcher< T > ::TransformationParameters	TransformationParameters
	alias
typedef PointMatcher< T >::Vector	Vector
	alias
Static Public Member Functions
static bool	descSublabelRegistered (const std::string &externalName)
	returns true if a particular descriptor dim label is registered (ie nx, red...)
static bool	featSublabelRegistered (const std::string &externalName)
	returns true if a particular feature dim label is registered (ie x, y...)
static std::string	getColLabel (const Label &label, const int row)
	convert a descriptor label to an appropriate sub-label
static SublabelAssociationMap	getDescAssocationMap ()
	map to store association between common 1d descriptor labels and their PM label and span dimension
static LabelAssociationPair	getDescAssociationPair (const std::string &externalName)
	get PM descriptor label associated with sublabel
static SublabelAssociationMap	getFeatAssocationMap ()
	map to store association between common 1d feature labels and their PM label and span dimension
static LabelAssociationPair	getFeatAssociationPair (const std::string &externalName)
	get PM feature label associated with sublabel
static PMPropTypes	getPMType (const std::string &externalName)
	Associate an external name to a DataPoints type of information.
static const SupportedLabels &	getSupportedExternalLabels ()
static DataPoints	loadCSV (const std::string &fileName)
	Return the type of information specific to a DataPoints based on a sulabel name.
static DataPoints	loadCSV (std::istream &is)
	Load comma separated values (csv) file.
static DataPoints	loadPCD (const std::string &fileName)
static DataPoints	loadPCD (std::istream &is)
	Load PCD file.
static DataPoints	loadPLY (const std::string &fileName)
	Load polygon file format (ply) file.
static DataPoints	loadPLY (std::istream &is)
	Load polygon file format (PLY) file.
static DataPoints	loadVTK (const std::string &fileName)
	Load point cloud from a file as VTK.
static DataPoints	loadVTK (std::istream &is)
	Load point cloud from a stream as VTK.
static bool	plyPropTypeValid (const std::string &type)
	Check that property defined by type is a valid PLY type note: type must be lowercase.
static std::istream &	safeGetLine (std::istream &os, std::string &line)
	Replaces getline for handling windows style CR/LF line endings.
static void	saveCSV (const DataPoints &data, const std::string &fileName)
	Save point cloud to a file as CSV.
static void	saveCSV (const DataPoints &data, std::ostream &os)
	Save point cloud to a stream as CSV.
static void	savePCD (const DataPoints &data, const std::string &fileName)
	save datapoints to PCD point cloud format
static void	savePLY (const DataPoints &data, const std::string &fileName)
	save datapoints to PLY point cloud format
static void	saveVTK (const DataPoints &data, const std::string &fileName)
	Save point cloud to a file as VTK.

Detailed Description

template<typename T>
struct PointMatcherIO< T >

IO Functions and classes that are dependant on scalar type are defined in this templatized class.

Definition at line 43 of file IO.h.

Member Typedef Documentation

template<typename T>

typedef PointMatcher<T>::DataPoints PointMatcherIO< T >::DataPoints

alias

Definition at line 47 of file IO.h.

template<typename T>

typedef PLYProperties::iterator PointMatcherIO< T >::it_PLYProp

Iterator for a vector of PLY properties.

Definition at line 254 of file IO.h.

template<typename T>

typedef PointMatcher<T>::DataPoints::Label PointMatcherIO< T >::Label

alias

Definition at line 50 of file IO.h.

template<typename T>

typedef std::pair<int, std::string > PointMatcherIO< T >::LabelAssociationPair

Pair feature column, feature name.

Definition at line 54 of file IO.h.

template<typename T>

typedef PointMatcher<T>::DataPoints::Labels PointMatcherIO< T >::Labels

alias

Definition at line 51 of file IO.h.

template<typename T>

typedef PointMatcher<T>::Matrix PointMatcherIO< T >::Matrix

alias

Definition at line 46 of file IO.h.

template<typename T>

typedef PointMatcher<T>::Matrix PointMatcherIO< T >::Parameters

alias

Definition at line 49 of file IO.h.

template<typename T>

typedef std::map<std::string, std::vector<PLYProperty> > PointMatcherIO< T >::PLYDescPropMap

Map from a descriptor name to a list PLY property ex: "normals" -> nx, ny ,nz

Definition at line 248 of file IO.h.

template<typename T>

typedef std::vector<PLYProperty> PointMatcherIO< T >::PLYProperties

Vector of properties specific to PLY files.

Definition at line 251 of file IO.h.

template<typename T>

typedef std::map<std::string, LabelAssociationPair > PointMatcherIO< T >::SublabelAssociationMap

Map to associate common descriptor sublabels to PM descriptor matrix row and labels ex: nx, ny, nz are associated with (0,normals) (1,normals) (2,normals) respectively

Definition at line 58 of file IO.h.

template<typename T>

typedef std::vector<SupportedLabel> PointMatcherIO< T >::SupportedLabels

Vector of supported labels in PointMatcher and their external names.

Definition at line 90 of file IO.h.

template<typename T>

typedef PointMatcher<T>::TransformationParameters PointMatcherIO< T >::TransformationParameters

alias

Definition at line 48 of file IO.h.

template<typename T>

typedef PointMatcher<T>::Vector PointMatcherIO< T >::Vector

alias

Definition at line 45 of file IO.h.

Member Enumeration Documentation

template<typename T>

enum PointMatcherIO::PMPropTypes

Type of information in a DataPoints. Each type is stored in its own dense matrix.

Enumerator:

FEATURE
DESCRIPTOR
UNSUPPORTED

Definition at line 71 of file IO.h.

template<typename T>

enum PointMatcherIO::SupportedVTKDataTypes

Enumeration of legacy VTK data types that can be parsed.

Enumerator:

POLYDATA
UNSTRUCTURED_GRID

Definition at line 158 of file IO.h.

Member Function Documentation

template<typename T >

bool PointMatcherIO< T >::descSublabelRegistered ( const std::string & externalName ) [static]

returns true if a particular descriptor dim label is registered (ie nx, red...)

Definition at line 470 of file pointmatcher/IO.cpp.

template<typename T >

bool PointMatcherIO< T >::featSublabelRegistered ( const std::string & externalName ) [static]

returns true if a particular feature dim label is registered (ie x, y...)

Definition at line 464 of file pointmatcher/IO.cpp.

template<typename T >

std::string PointMatcherIO< T >::getColLabel	(	const Label &	label,
		const int	row
	)		`[static]`

convert a descriptor label to an appropriate sub-label

Definition at line 535 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::SublabelAssociationMap PointMatcherIO< T >::getDescAssocationMap ( ) [static]

map to store association between common 1d descriptor labels and their PM label and span dimension

Definition at line 429 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::LabelAssociationPair PointMatcherIO< T >::getDescAssociationPair ( const std::string & externalName ) [static]

get PM descriptor label associated with sublabel

Definition at line 482 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::SublabelAssociationMap PointMatcherIO< T >::getFeatAssocationMap ( ) [static]

map to store association between common 1d feature labels and their PM label and span dimension

Definition at line 418 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::LabelAssociationPair PointMatcherIO< T >::getFeatAssociationPair ( const std::string & externalName ) [static]

get PM feature label associated with sublabel

Definition at line 476 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::PMPropTypes PointMatcherIO< T >::getPMType ( const std::string & externalName ) [static]

Associate an external name to a DataPoints type of information.

Definition at line 488 of file pointmatcher/IO.cpp.

template<typename T>

static const SupportedLabels& PointMatcherIO< T >::getSupportedExternalLabels ( ) [inline, static]

Vector containing the mapping of all external names to PointMatcher representation. The order is important (i.e., nx before ny). This can also be used to remap 1D descriptor name to a better one.

Definition at line 95 of file IO.h.

template<typename T >

template PointMatcher< double >::DataPoints PointMatcherIO< T >::loadCSV ( const std::string & fileName ) [static]

Return the type of information specific to a DataPoints based on a sulabel name.

Load comma separated values (csv) file.

Parameters:

fileName a string containing the path and the file name

This loader has 3 behaviors since there is no official standard for csv files. A 2D or 3D point cloud will be created automatically if:

there is a header with columns named x, y and optionnaly z
there are only 2 or 3 columns in the file

Otherwise, the user is asked to enter column id manually which might block automatic processing.

Definition at line 400 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcher< T >::DataPoints PointMatcherIO< T >::loadCSV ( std::istream & is ) [static]

Load comma separated values (csv) file.

See also:: loadCSV()

Definition at line 601 of file pointmatcher/IO.cpp.

template<typename T>

static DataPoints PointMatcherIO< T >::loadPCD ( const std::string & fileName ) [static]

template<typename T >

PointMatcherIO< T >::DataPoints PointMatcherIO< T >::loadPCD ( std::istream & is ) [static]

Load PCD file.

See also:: loadPCD()

Definition at line 1812 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::DataPoints PointMatcherIO< T >::loadPLY ( const std::string & fileName ) [static]

Load polygon file format (ply) file.

Parameters:

fileName a string containing the path and the file name

Note: that the PLY does not define a standard for point clouds Warning: Binary PLY files are not supported, only ASCII Only PLY files with elements named "vertex" are supported "vertex" should have 2 or 3 properties names "x", "y", "z" to define features.

Definition at line 1246 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcherIO< T >::DataPoints PointMatcherIO< T >::loadPLY ( std::istream & is ) [static]

Load polygon file format (PLY) file.

See also:: loadPLY()

Definition at line 1262 of file pointmatcher/IO.cpp.

template<typename T >

template PointMatcherIO< double >::DataPoints PointMatcherIO< T >::loadVTK ( const std::string & fileName ) [static]

Load point cloud from a file as VTK.

Definition at line 962 of file pointmatcher/IO.cpp.

template<typename T >

PointMatcher< T >::DataPoints PointMatcherIO< T >::loadVTK ( std::istream & is ) [static]

Load point cloud from a stream as VTK.

Definition at line 972 of file pointmatcher/IO.cpp.

template<typename T >

bool PointMatcherIO< T >::plyPropTypeValid ( const std::string & type ) [static]

Check that property defined by type is a valid PLY type note: type must be lowercase.

Definition at line 1770 of file pointmatcher/IO.cpp.

template<typename T>

istream & PointMatcherIO< T >::safeGetLine	(	std::istream &	os,
		std::string &	line
	)		`[static]`

Replaces getline for handling windows style CR/LF line endings.

Definition at line 2220 of file pointmatcher/IO.cpp.

template<typename T >

template void PointMatcherIO< T >::saveCSV	(	const DataPoints &	data,
		const std::string &	fileName
	)		`[static]`

Save point cloud to a file as CSV.

Definition at line 888 of file pointmatcher/IO.cpp.

template<typename T >

void PointMatcherIO< T >::saveCSV	(	const DataPoints &	data,
		std::ostream &	os
	)		`[static]`

Save point cloud to a stream as CSV.

Definition at line 898 of file pointmatcher/IO.cpp.

template<typename T >

template void PointMatcherIO< T >::savePCD	(	const DataPoints &	data,
		const std::string &	fileName
	)		`[static]`

save datapoints to PCD point cloud format

Definition at line 2124 of file pointmatcher/IO.cpp.

template<typename T >

template void PointMatcherIO< T >::savePLY	(	const DataPoints &	data,
		const std::string &	fileName
	)		`[static]`

save datapoints to PLY point cloud format

Definition at line 1578 of file pointmatcher/IO.cpp.

template<typename T >

template void PointMatcherIO< T >::saveVTK	(	const DataPoints &	data,
		const std::string &	fileName
	)		`[static]`

Save point cloud to a file as VTK.

Definition at line 1221 of file pointmatcher/IO.cpp.

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

Classes

Public Types

Static Public Member Functions

Detailed Description

template<typename T> struct PointMatcherIO< T >

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

template<typename T>
struct PointMatcherIO< T >