/* * 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 #include #include #include #include // 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 () override; 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 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& 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_{", \n\r\t"}; std::string extension_{".txt"}; std::vector fields_; std::string name_{"AsciiReader"}; /** \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