Ascii Point Cloud Reader.
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#include <pcl/io/ascii_io.h>
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| ASCIIReader () |
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| ~ASCIIReader () |
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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) override |
| Read a point cloud data header from a FILE file.
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int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0) override |
| Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
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template<typename PointT > |
void | setInputFields () |
| Set the ascii file point fields.
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void | setInputFields (const std::vector< pcl::PCLPointField > &fields) |
| Set the ascii file point fields using a list of fields.
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void | setSepChars (const std::string &chars) |
| Set the Separating characters for the ascii point fields 2.
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void | setExtension (const std::string &ext) |
| Set the extension of the ascii point file type.
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int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
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template<typename PointT > |
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.
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| FileReader () |
| empty constructor
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virtual | ~FileReader () |
| empty destructor
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int | read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset=0) |
| Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
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template<typename PointT > |
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.
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int | parse (const std::string &token, const pcl::PCLPointField &field, std::uint8_t *data_target) |
| Parses token based on field type.
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std::uint32_t | typeSize (int type) |
| Returns the size in bytes of a point field type.
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Ascii Point Cloud Reader.
Read any ASCII file by setting the separating characters and input point fields.
- Author
- Adam Stambler (adast.nosp@m.a@gm.nosp@m.ail.c.nosp@m.om)
Definition at line 55 of file ascii_io.h.
◆ ASCIIReader()
pcl::ASCIIReader::ASCIIReader |
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◆ ~ASCIIReader()
pcl::ASCIIReader::~ASCIIReader |
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◆ parse()
int pcl::ASCIIReader::parse |
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const std::string & | token, |
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const pcl::PCLPointField & | field, |
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std::uint8_t * | data_target ) |
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Parses token based on field type.
- Parameters
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[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 |
◆ read() [1/3]
int pcl::FileReader::read |
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const std::string & | file_name, |
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pcl::PCLPointCloud2 & | cloud, |
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const int | offset = 0 ) |
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Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
- Note
- This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as pcl::PCLPointCloud2 does not contain a sensor origin/orientation. Reading any file
FILE_V6 will generate a warning.
- Parameters
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[in] | file_name | the name of the file containing the actual PointCloud data |
[out] | cloud | the resultant PointCloud message read from disk |
[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). |
Definition at line 124 of file file_io.h.
◆ read() [2/3]
int pcl::ASCIIReader::read |
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const std::string & | file_name, |
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pcl::PCLPointCloud2 & | cloud, |
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Eigen::Vector4f & | origin, |
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Eigen::Quaternionf & | orientation, |
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int & | file_version, |
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const int | offset = 0 ) |
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overridevirtual |
Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
- Parameters
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[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.
◆ read() [3/3]
int pcl::FileReader::read |
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const std::string & | file_name, |
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pcl::PointCloud< PointT > & | cloud, |
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const int | offset = 0 ) |
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Read a point cloud data from any FILE file, and convert it to the given template format.
- Parameters
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[in] | file_name | the name of the file containing the actual PointCloud data |
[out] | cloud | the resultant PointCloud message read from disk |
[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). |
Definition at line 142 of file file_io.h.
◆ readHeader()
int pcl::ASCIIReader::readHeader |
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const std::string & | file_name, |
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pcl::PCLPointCloud2 & | cloud, |
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Eigen::Vector4f & | origin, |
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Eigen::Quaternionf & | orientation, |
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int & | file_version, |
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int & | data_type, |
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unsigned int & | data_idx, |
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const int | offset = 0 ) |
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overridevirtual |
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
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[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.
◆ setExtension()
void pcl::ASCIIReader::setExtension |
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const std::string & | ext | ) |
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Set the extension of the ascii point file type.
- Parameters
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[in] | ext | extension (example : ".txt" or ".xyz" ) |
Definition at line 128 of file ascii_io.h.
◆ setInputFields() [1/2]
void pcl::ASCIIReader::setInputFields |
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◆ setInputFields() [2/2]
Set the ascii file point fields using a list of fields.
- Parameters
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[in] | fields | is a list of point fields, in order, in the input ascii file |
◆ setSepChars()
void pcl::ASCIIReader::setSepChars |
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const std::string & | chars | ) |
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Set the Separating characters for the ascii point fields 2.
- Parameters
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[in] | chars | string of separating characters Sets the separating characters for the point fields. The default separating characters are " \n\t," |
◆ typeSize()
std::uint32_t pcl::ASCIIReader::typeSize |
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int | type | ) |
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Returns the size in bytes of a point field type.
- Parameters
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[in] | type | point field type returns the size of the type in bytes |
Referenced by setInputFields().
◆ extension_
std::string pcl::ASCIIReader::extension_ |
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◆ fields_
◆ name_
std::string pcl::ASCIIReader::name_ |
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◆ sep_chars_
std::string pcl::ASCIIReader::sep_chars_ |
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The documentation for this class was generated from the following files: