Ascii Point Cloud Reader. More...

#include <pcl/io/ascii_io.h>

Inheritance diagram for pcl::ASCIIReader:

Collaboration diagram for pcl::ASCIIReader:

Public Member Functions
	ASCIIReader ()

	~ASCIIReader () override

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. More...

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. More...

template<typename PointT >
void	setInputFields ()
	Set the ascii file point fields. More...

void	setInputFields (const std::vector< pcl::PCLPointField > &fields)
	Set the ascii file point fields using a list of fields. More...

void	setSepChars (const std::string &chars)
	Set the Separating characters for the ascii point fields 2. More...

void	setExtension (const std::string &ext)
	Set the extension of the ascii point file type. More...

virtual int	read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0)=0
	Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2. More...

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. More...

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. More...

Public Member Functions inherited from pcl::FileReader
	FileReader ()=default
	empty constructor More...

virtual	~FileReader ()=default
	empty destructor More...

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. More...

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. More...

Protected Member Functions
int	parse (const std::string &token, const pcl::PCLPointField &field, std::uint8_t *data_target)
	Parses token based on field type. More...

std::uint32_t	typeSize (int type)
	Returns the size in bytes of a point field type. More...

Protected Attributes
std::string	sep_chars_ {", \n\r\t"}

std::string	extension_ {".txt"}

std::vector< pcl::PCLPointField >	fields_

std::string	name_ {"AsciiReader"}

Detailed Description

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.

Constructor & Destructor Documentation

◆ ASCIIReader()

pcl::ASCIIReader::ASCIIReader ( )

◆ ~ASCIIReader()

pcl::ASCIIReader::~ASCIIReader ( )

override

Member Function Documentation

◆ parse()

int pcl::ASCIIReader::parse	(	const std::string &	token,
		const pcl::PCLPointField &	field,
		std::uint8_t *	data_target
	)

protected

Parses token based on field type.

Parameters

[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() [1/4]

int pcl::FileReader::read

inline

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

[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() [2/4]

int pcl::ASCIIReader::read	(	const std::string &	file_name,
		pcl::PCLPointCloud2 &	cloud,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		int &	file_version,
		const int	offset = `0`
	)

overridevirtual

Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.

Parameters

[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() [3/4]

virtual int pcl::FileReader::read

Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.

Parameters

[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).

◆ read() [4/4]

template<typename PointT >

int pcl::FileReader::read ( typename PointT )

inline

Read a point cloud data from any FILE file, and convert it to the given template format.

Parameters

[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	(	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`
	)

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

[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 ( const std::string & ext )

inline

Set the extension of the ascii point file type.

Parameters

[in] ext extension (example : ".txt" or ".xyz" )

Definition at line 128 of file ascii_io.h.

◆ setInputFields() [1/2]

template<typename PointT >

void pcl::ASCIIReader::setInputFields

Set the ascii file point fields.

Definition at line 47 of file ascii_io.hpp.

References fields_, and typeSize().

◆ setInputFields() [2/2]

void pcl::ASCIIReader::setInputFields ( const std::vector< pcl::PCLPointField > & fields )

Set the ascii file point fields using a list of fields.

Parameters

[in] fields is a list of point fields, in order, in the input ascii file

◆ setSepChars()

void pcl::ASCIIReader::setSepChars ( const std::string & chars )

Set the Separating characters for the ascii point fields 2.

Parameters

[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 ( int type )

protected

Returns the size in bytes of a point field type.

Parameters

[in] type point field type returns the size of the type in bytes

Referenced by setInputFields().

Member Data Documentation

◆ extension_

std::string pcl::ASCIIReader::extension_ {".txt"}

protected

Definition at line 132 of file ascii_io.h.

◆ fields_

std::vector<pcl::PCLPointField> pcl::ASCIIReader::fields_

protected

Definition at line 133 of file ascii_io.h.

Referenced by setInputFields().

◆ name_

std::string pcl::ASCIIReader::name_ {"AsciiReader"}

protected

Definition at line 134 of file ascii_io.h.

◆ sep_chars_

std::string pcl::ASCIIReader::sep_chars_ {", \n\r\t"}

protected

Definition at line 131 of file ascii_io.h.

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

pcl/io/ascii_io.h
pcl/io/impl/ascii_io.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ASCIIReader()

◆ ~ASCIIReader()

Member Function Documentation

◆ parse()

◆ read() [1/4]

◆ read() [2/4]

◆ read() [3/4]

◆ read() [4/4]

◆ readHeader()

◆ setExtension()

◆ setInputFields() [1/2]

◆ setInputFields() [2/2]

◆ setSepChars()

◆ typeSize()

Member Data Documentation

◆ extension_

◆ fields_

◆ name_

◆ sep_chars_