156 lines
6.7 KiB
C++
156 lines
6.7 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/pcl_macros.h>
|
|
#include <pcl/io/file_io.h>
|
|
#include <pcl/PCLPointField.h>
|
|
#include <pcl/common/io.h>
|
|
#include <pcl/common/utils.h> // pcl::utils::ignore
|
|
|
|
|
|
namespace pcl
|
|
{
|
|
/** \brief Ascii Point Cloud Reader.
|
|
* Read any ASCII file by setting the separating characters and input point fields.
|
|
*
|
|
* \author Adam Stambler (adasta@gmail.com)
|
|
* \ingroup io
|
|
*/
|
|
class PCL_EXPORTS ASCIIReader : public FileReader
|
|
{
|
|
public:
|
|
ASCIIReader ();
|
|
~ASCIIReader ();
|
|
using FileReader::read;
|
|
|
|
/* 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
|
|
* \param[in] file_name the name of the file to load
|
|
* \param[out] cloud the resultant point cloud dataset (only the header will be filled)
|
|
* \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)
|
|
* \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
|
|
* \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)
|
|
* \param[out] data_type the type of data (binary data=1, ascii=0, etc)
|
|
* \param[out] data_idx the offset of cloud data within the file
|
|
* \param[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).
|
|
*/
|
|
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 ;
|
|
|
|
|
|
/** \brief Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.
|
|
* \param[in] file_name the name of the file containing the actual PointCloud data
|
|
* \param[out] cloud the resultant PointCloud message read from disk
|
|
* \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)
|
|
* \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)
|
|
* \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)
|
|
* \param[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).
|
|
*/
|
|
int
|
|
read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
|
|
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version,
|
|
const int offset = 0) override;
|
|
|
|
/** \brief Set the ascii file point fields.
|
|
*/
|
|
template<typename PointT>
|
|
void setInputFields ();
|
|
|
|
/** \brief Set the ascii file point fields using a list of fields.
|
|
* \param[in] fields is a list of point fields, in order, in the input ascii file
|
|
*/
|
|
void
|
|
setInputFields (const std::vector<pcl::PCLPointField>& fields);
|
|
|
|
/** \brief Set the Separating characters for the ascii point fields 2.
|
|
* \param[in] chars string of separating characters
|
|
* Sets the separating characters for the point fields. The
|
|
* default separating characters are " \n\t,"
|
|
*/
|
|
void
|
|
setSepChars (const std::string &chars);
|
|
|
|
/** \brief Set the extension of the ascii point file type.
|
|
* \param[in] ext extension (example : ".txt" or ".xyz" )
|
|
*/
|
|
void
|
|
setExtension (const std::string &ext) { extension_ = ext; }
|
|
|
|
protected:
|
|
std::string sep_chars_;
|
|
std::string extension_;
|
|
std::vector<pcl::PCLPointField> fields_;
|
|
std::string name_;
|
|
|
|
|
|
/** \brief Parses token based on field type.
|
|
* \param[in] token string representation of point fields
|
|
* \param[in] field token point field type
|
|
* \param[out] data_target address that the point field data should be assigned to
|
|
* returns the size of the parsed point field in bytes
|
|
*/
|
|
int
|
|
parse (const std::string& token, const pcl::PCLPointField& field, std::uint8_t* data_target);
|
|
|
|
/** \brief Returns the size in bytes of a point field type.
|
|
* \param[in] type point field type
|
|
* returns the size of the type in bytes
|
|
*/
|
|
std::uint32_t
|
|
typeSize (int type);
|
|
};
|
|
}
|
|
|
|
#include <pcl/io/impl/ascii_io.hpp>
|