444 lines
19 KiB
C
444 lines
19 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: file_io.h 827 2011-05-04 02:00:04Z nizar $
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*
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*/
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#pragma once
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#include <pcl/conversions.h> // for fromPCLPointCloud2, toPCLPointCloud2
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#include <pcl/point_cloud.h> // for PointCloud
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#include <pcl/PCLPointCloud2.h> // for PCLPointCloud2
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#include <cmath>
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#include <sstream>
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#include <Eigen/Geometry> // for Quaternionf
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#include <boost/numeric/conversion/cast.hpp> // for numeric_cast
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#include <boost/algorithm/string/predicate.hpp> // for iequals
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namespace pcl
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{
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/** \brief Point Cloud Data (FILE) file format reader interface.
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* Any (FILE) format file reader should implement its virtual methods.
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* \author Nizar Sallem
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* \ingroup io
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*/
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class PCL_EXPORTS FileReader
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{
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public:
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/** \brief empty constructor */
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FileReader() {}
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/** \brief empty destructor */
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virtual ~FileReader() {}
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/** \brief Read a point cloud data header from a FILE file.
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*
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* Load only the meta information (number of points, their types, etc),
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* and not the points themselves, from a given FILE file. Useful for fast
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* evaluation of the underlying data structure.
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*
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* Returns:
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* * < 0 (-1) on error
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* * > 0 on success
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant point cloud dataset (only the header will be filled)
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* \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)
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* \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
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* \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)
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* \param[out] data_type the type of data (binary data=1, ascii=0, etc)
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* \param[out] data_idx the offset of cloud data within the file
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*/
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virtual int
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readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, int &data_type, unsigned int &data_idx, const int offset = 0) = 0;
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/** \brief Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)
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* \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
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* \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*/
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virtual int
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read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version,
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const int offset = 0) = 0;
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/** \brief Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.
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*
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* \note This function is provided for backwards compatibility only and
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* it can only read FILE_V6 files correctly, as pcl::PCLPointCloud2
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* does not contain a sensor origin/orientation. Reading any file
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* > FILE_V6 will generate a warning.
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*
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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*
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*/
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int
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read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0)
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{
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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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return (read (file_name, cloud, origin, orientation, file_version, offset));
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}
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/** \brief Read a point cloud data from any FILE file, and convert it to the given template format.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*/
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template<typename PointT> inline int
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read (const std::string &file_name, pcl::PointCloud<PointT> &cloud, const int offset =0)
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{
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pcl::PCLPointCloud2 blob;
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int file_version;
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int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
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file_version, offset);
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// Exit in case of error
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if (res < 0)
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return res;
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pcl::fromPCLPointCloud2 (blob, cloud);
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return (0);
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}
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};
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/** \brief Point Cloud Data (FILE) file format writer.
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* Any (FILE) format file reader should implement its virtual methods
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* \author Nizar Sallem
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* \ingroup io
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*/
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class PCL_EXPORTS FileWriter
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{
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public:
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/** \brief Empty constructor */
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FileWriter () {}
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/** \brief Empty destructor */
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virtual ~FileWriter () {}
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/** \brief Save point cloud data to a FILE file containing n-D points
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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* \param[in] binary set to true if the file is to be written in a binary
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* FILE format, false (default) for ASCII
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*/
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virtual int
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write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
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const bool binary = false) = 0;
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/** \brief Save point cloud data to a FILE file containing n-D points
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message (boost shared pointer)
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* \param[in] binary set to true if the file is to be written in a binary
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* FILE format, false (default) for ASCII
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* \param[in] origin the sensor acquisition origin
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* \param[in] orientation the sensor acquisition orientation
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*/
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inline int
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write (const std::string &file_name, const pcl::PCLPointCloud2::ConstPtr &cloud,
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const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
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const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
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const bool binary = false)
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{
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return (write (file_name, *cloud, origin, orientation, binary));
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}
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/** \brief Save point cloud data to a FILE file containing n-D points
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* \param[in] file_name the output file name
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* \param[in] cloud the pcl::PointCloud data
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* \param[in] binary set to true if the file is to be written in a binary
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* FILE format, false (default) for ASCII
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*/
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template<typename PointT> inline int
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write (const std::string &file_name,
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const pcl::PointCloud<PointT> &cloud,
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const bool binary = false)
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{
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Eigen::Vector4f origin = cloud.sensor_origin_;
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Eigen::Quaternionf orientation = cloud.sensor_orientation_;
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pcl::PCLPointCloud2 blob;
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pcl::toPCLPointCloud2 (cloud, blob);
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// Save the data
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return (write (file_name, blob, origin, orientation, binary));
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}
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};
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/** \brief inserts a value of type Type (uchar, char, uint, int, float, double, ...) into a stringstream.
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*
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* If the value is NaN, it inserts "nan".
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*
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* \param[in] cloud the cloud to copy from
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* \param[in] point_index the index of the point
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* \param[in] point_size the size of the point in the cloud
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* \param[in] field_idx the index of the dimension/field
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* \param[in] fields_count the current fields count
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* \param[out] stream the ostringstream to copy into
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*/
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template <typename Type> inline
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std::enable_if_t<std::is_floating_point<Type>::value>
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copyValueString (const pcl::PCLPointCloud2 &cloud,
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const pcl::index_t point_index,
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const int point_size,
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const unsigned int field_idx,
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const unsigned int fields_count,
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std::ostream &stream)
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{
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Type value;
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memcpy (&value, &cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (Type)], sizeof (Type));
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if (std::isnan (value))
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stream << "nan";
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else
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stream << value;
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}
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template <typename Type> inline
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std::enable_if_t<std::is_integral<Type>::value>
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copyValueString (const pcl::PCLPointCloud2 &cloud,
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const pcl::index_t point_index,
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const int point_size,
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const unsigned int field_idx,
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const unsigned int fields_count,
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std::ostream &stream)
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{
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Type value;
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memcpy (&value, &cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (Type)], sizeof (Type));
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stream << value;
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}
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template <> inline void
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copyValueString<std::int8_t> (const pcl::PCLPointCloud2 &cloud,
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const pcl::index_t point_index,
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const int point_size,
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const unsigned int field_idx,
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const unsigned int fields_count,
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std::ostream &stream)
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{
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std::int8_t value;
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memcpy (&value, &cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (std::int8_t)], sizeof (std::int8_t));
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//Cast to int to prevent value is handled as char
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stream << boost::numeric_cast<int>(value);
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}
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template <> inline void
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copyValueString<std::uint8_t> (const pcl::PCLPointCloud2 &cloud,
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const pcl::index_t point_index,
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const int point_size,
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const unsigned int field_idx,
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const unsigned int fields_count,
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std::ostream &stream)
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{
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std::uint8_t value;
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memcpy (&value, &cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (std::uint8_t)], sizeof (std::uint8_t));
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//Cast to unsigned int to prevent value is handled as char
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stream << boost::numeric_cast<unsigned int>(value);
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}
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/** \brief Check whether a given value of type Type (uchar, char, uint, int, float, double, ...) is finite or not
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*
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* \param[in] cloud the cloud that contains the data
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* \param[in] point_index the index of the point
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* \param[in] point_size the size of the point in the cloud
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* \param[in] field_idx the index of the dimension/field
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* \param[in] fields_count the current fields count
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*
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* \return true if the value is finite, false otherwise
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*/
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template <typename Type> inline
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std::enable_if_t<std::is_floating_point<Type>::value, bool>
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isValueFinite (const pcl::PCLPointCloud2 &cloud,
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const pcl::index_t point_index,
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const int point_size,
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const unsigned int field_idx,
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const unsigned int fields_count)
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{
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Type value;
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memcpy (&value, &cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (Type)], sizeof (Type));
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return std::isfinite (value);
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}
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template <typename Type> inline
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std::enable_if_t<std::is_integral<Type>::value, bool>
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isValueFinite (const pcl::PCLPointCloud2& /* cloud */,
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const pcl::index_t /* point_index */,
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const int /* point_size */,
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const unsigned int /* field_idx */,
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const unsigned int /* fields_count */)
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{
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return true;
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}
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namespace detail {
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template <typename Type>
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inline void
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copyStringValue(const std::string& st,
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pcl::PCLPointCloud2& cloud,
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pcl::index_t point_index,
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unsigned int field_idx,
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unsigned int fields_count,
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std::istringstream& is)
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{
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Type value;
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if (boost::iequals(st, "nan")) {
|
||
|
|
value = std::numeric_limits<Type>::quiet_NaN();
|
||
|
|
cloud.is_dense = false;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
is.str(st);
|
||
|
|
if (!(is >> value))
|
||
|
|
value = static_cast<Type>(atof(st.c_str()));
|
||
|
|
}
|
||
|
|
|
||
|
|
memcpy(&cloud.data[point_index * cloud.point_step + cloud.fields[field_idx].offset +
|
||
|
|
fields_count * sizeof(Type)],
|
||
|
|
reinterpret_cast<char*>(&value),
|
||
|
|
sizeof(Type));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <>
|
||
|
|
inline void
|
||
|
|
copyStringValue<std::int8_t>(const std::string& st,
|
||
|
|
pcl::PCLPointCloud2& cloud,
|
||
|
|
pcl::index_t point_index,
|
||
|
|
unsigned int field_idx,
|
||
|
|
unsigned int fields_count,
|
||
|
|
std::istringstream& is)
|
||
|
|
{
|
||
|
|
std::int8_t value;
|
||
|
|
int val;
|
||
|
|
is.str(st);
|
||
|
|
// is >> val; -- unfortunately this fails on older GCC versions and CLANG on MacOS
|
||
|
|
if (!(is >> val)) {
|
||
|
|
val = static_cast<int>(atof(st.c_str()));
|
||
|
|
}
|
||
|
|
value = static_cast<std::int8_t>(val);
|
||
|
|
|
||
|
|
memcpy(&cloud.data[point_index * cloud.point_step + cloud.fields[field_idx].offset +
|
||
|
|
fields_count * sizeof(std::int8_t)],
|
||
|
|
reinterpret_cast<char*>(&value),
|
||
|
|
sizeof(std::int8_t));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <>
|
||
|
|
inline void
|
||
|
|
copyStringValue<std::uint8_t>(const std::string& st,
|
||
|
|
pcl::PCLPointCloud2& cloud,
|
||
|
|
pcl::index_t point_index,
|
||
|
|
unsigned int field_idx,
|
||
|
|
unsigned int fields_count,
|
||
|
|
std::istringstream& is)
|
||
|
|
{
|
||
|
|
std::uint8_t value;
|
||
|
|
int val;
|
||
|
|
is.str(st);
|
||
|
|
// is >> val; -- unfortunately this fails on older GCC versions and CLANG on
|
||
|
|
// MacOS
|
||
|
|
if (!(is >> val)) {
|
||
|
|
val = static_cast<int>(atof(st.c_str()));
|
||
|
|
}
|
||
|
|
value = static_cast<std::uint8_t>(val);
|
||
|
|
|
||
|
|
memcpy(&cloud.data[point_index * cloud.point_step + cloud.fields[field_idx].offset +
|
||
|
|
fields_count * sizeof(std::uint8_t)],
|
||
|
|
reinterpret_cast<char*>(&value),
|
||
|
|
sizeof(std::uint8_t));
|
||
|
|
}
|
||
|
|
} // namespace detail
|
||
|
|
|
||
|
|
/**
|
||
|
|
* \brief Copy one single value of type T (uchar, char, uint, int, float, double, ...) from a string
|
||
|
|
* \details Uses `istringstream` to do the conversion in classic locale
|
||
|
|
* Checks if the st is "nan" and converts it accordingly.
|
||
|
|
*
|
||
|
|
* \param[in] st the string containing the value to convert and copy
|
||
|
|
* \param[out] cloud the cloud to copy it to
|
||
|
|
* \param[in] point_index the index of the point
|
||
|
|
* \param[in] field_idx the index of the dimension/field
|
||
|
|
* \param[in] fields_count the current fields count
|
||
|
|
*/
|
||
|
|
template <typename Type> inline void
|
||
|
|
copyStringValue (const std::string &st, pcl::PCLPointCloud2 &cloud,
|
||
|
|
pcl::index_t point_index, unsigned int field_idx, unsigned int fields_count)
|
||
|
|
{
|
||
|
|
std::istringstream is;
|
||
|
|
is.imbue (std::locale::classic ());
|
||
|
|
detail::copyStringValue<Type> (st, cloud,point_index, field_idx, fields_count, is);
|
||
|
|
}
|
||
|
|
/**
|
||
|
|
* \brief Copy one single value of type T (uchar, char, uint, int, float, double, ...) from a string
|
||
|
|
* \details Uses the provided `istringstream` to do the conversion, respecting its locale settings
|
||
|
|
* Checks if the st is "nan" and converts it accordingly.
|
||
|
|
*
|
||
|
|
* \param[in] st the string containing the value to convert and copy
|
||
|
|
* \param[out] cloud the cloud to copy it to
|
||
|
|
* \param[in] point_index the index of the point
|
||
|
|
* \param[in] field_idx the index of the dimension/field
|
||
|
|
* \param[in] fields_count the current fields count
|
||
|
|
* \param[in,out] is input string stream for helping to convert st into cloud
|
||
|
|
*/
|
||
|
|
template <typename Type> inline void
|
||
|
|
copyStringValue (const std::string &st, pcl::PCLPointCloud2 &cloud,
|
||
|
|
pcl::index_t point_index, unsigned int field_idx, unsigned int fields_count,
|
||
|
|
std::istringstream& is)
|
||
|
|
{
|
||
|
|
detail::copyStringValue<Type> (st, cloud,point_index, field_idx, fields_count, is);
|
||
|
|
}
|
||
|
|
}
|