io.h

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/*
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 * $Id: io.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_IO_IO_H_
#define PCL_IO_IO_H_

#include <string>
#include <boost/fusion/sequence/intrinsic/at_key.hpp>
#include "pcl/pcl_base.h"
#include "pcl/PointIndices.h"
#include "pcl/ros/conversions.h"
#include <locale>

namespace pcl
{
  inline int
  getFieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
  {
    // Get the index we need
    for (size_t d = 0; d < cloud.fields.size (); ++d)
      if (cloud.fields[d].name == field_name)
        return (d);
    return (-1);
  }

  template <typename PointT> inline int 
  getFieldIndex (const pcl::PointCloud<PointT> &cloud, const std::string &field_name, 
                 std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline void 
  getFields (const pcl::PointCloud<PointT> &cloud, std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline std::string 
  getFieldsList (const pcl::PointCloud<PointT> &cloud);

  inline std::string
  getFieldsList (const sensor_msgs::PointCloud2 &cloud)
  {
    std::string result;
    for (size_t i = 0; i < cloud.fields.size () - 1; ++i)
      result += cloud.fields[i].name + " ";
    result += cloud.fields[cloud.fields.size () - 1].name;
    return (result);
  }

  inline int
  getFieldSize (int datatype)
  {
    switch (datatype)
    {
      case sensor_msgs::PointField::INT8:
      case sensor_msgs::PointField::UINT8:
        return (1);

      case sensor_msgs::PointField::INT16:
      case sensor_msgs::PointField::UINT16:
        return (2);

      case sensor_msgs::PointField::INT32:
      case sensor_msgs::PointField::UINT32:
      case sensor_msgs::PointField::FLOAT32:
        return (4);

      case sensor_msgs::PointField::FLOAT64:
        return (8);

      default:
        return (0);
    }
  }

  inline int
  getFieldType (int size, char type)
  {
    type = std::toupper (type, std::locale::classic ());
    switch (size)
    {
      case 1:
        if (type == 'I')
          return (sensor_msgs::PointField::INT8);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT8);

      case 2:
        if (type == 'I')
          return (sensor_msgs::PointField::INT16);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT16);

      case 4:
        if (type == 'I')
          return (sensor_msgs::PointField::INT32);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT32);
        if (type == 'F')
          return (sensor_msgs::PointField::FLOAT32);

      case 8:
        return (sensor_msgs::PointField::FLOAT64);

      default:
        return (-1);
    }
  }

  inline char
  getFieldType (int type)
  {
    switch (type)
    {
      case sensor_msgs::PointField::INT8:
      case sensor_msgs::PointField::INT16:
      case sensor_msgs::PointField::INT32:
        return ('I');

      case sensor_msgs::PointField::UINT8:
      case sensor_msgs::PointField::UINT16:
      case sensor_msgs::PointField::UINT32:
        return ('U');

      case sensor_msgs::PointField::FLOAT32:
      case sensor_msgs::PointField::FLOAT64:
        return ('F');
      default:
        return ('?');
    }
  }

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  bool 
  concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1, 
                         const sensor_msgs::PointCloud2 &cloud2, 
                         sensor_msgs::PointCloud2 &cloud_out);

  void 
  copyPointCloud (const sensor_msgs::PointCloud2 &cloud_in, 
                  const std::vector<int> &indices, 
                  sensor_msgs::PointCloud2 &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const std::vector<int> &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const PointIndices &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const std::vector<pcl::PointIndices> &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointIn1T, typename PointIn2T, typename PointOutT> void 
  concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in, 
                     const pcl::PointCloud<PointIn2T> &cloud2_in, 
                     pcl::PointCloud<PointOutT> &cloud_out);

  bool 
  getPointCloudAsEigen (const sensor_msgs::PointCloud2 &in, Eigen::MatrixXf &out);

  bool 
  getEigenAsPointCloud (Eigen::MatrixXf &in, sensor_msgs::PointCloud2 &out);
}

#include "pcl/io/io.hpp"

#endif  //#ifndef PCL_IO_IO_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013