point_cloud_library / 1.12.1 / classpcl_1_1_a_s_c_i_i_reader.html /

Ascii Point Cloud Reader. More...

#include <pcl/io/ascii_io.h>

Public Member Functions
ASCIIReader ()
~ASCIIReader ()
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 ()
empty constructor More...
virtual ~FileReader ()
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_
std::string extension_
std::vector< pcl::PCLPointField > fields_
std::string name_

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 ( )

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_
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_
protected

Definition at line 134 of file ascii_io.h.

sep_chars_

std::string pcl::ASCIIReader::sep_chars_
protected

Definition at line 131 of file ascii_io.h.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_a_s_c_i_i_reader.html

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Last Updated 2021-12-29T19:25:09Z