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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <pcl/io/file_io.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/PCLPointField.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/common/io.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <pcl/common/utils.h></span> <span class="comment">// pcl::utils::ignore</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> {<span class="comment"></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> /** \brief Ascii Point Cloud Reader.</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * Read any ASCII file by setting the separating characters and input point fields.</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * \author Adam Stambler ([email protected])</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html"> 55</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html">ASCIIReader</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a5dfe46c5b5fc539b93a43e9cb1491c36"> 58</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a5dfe46c5b5fc539b93a43e9cb1491c36">ASCIIReader</a> ();</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#ab355f4e2e73089804fddb89bcf9b1bca"> 59</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#ab355f4e2e73089804fddb89bcf9b1bca">~ASCIIReader</a> () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">FileReader::read</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">/* Load only the meta information (number of points, their types, etc),</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> * and not the points themselves, from a given FILE file. Useful for fast</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> * evaluation of the underlying data structure.</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> * Returns:</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> * * < 0 (-1) on error</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> * * > 0 on success</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> * \param[out] cloud the resultant point cloud dataset (only the header will be filled)</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> * \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> * \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> * \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> * \param[out] data_type the type of data (binary data=1, ascii=0, etc)</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> * \param[out] data_idx the offset of cloud data within the file</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> * \param[in] offset the offset in the file where to expect the true header to begin.</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> * One usage example for setting the offset parameter is for reading</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> * data from a TAR "archive containing multiple files: TAR files always</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> * add a 512 byte header in front of the actual file, so set the offset</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> * to the next byte after the header (e.g., 513).</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a3359188af9d92f87b53a103ec641951e"> 83</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a3359188af9d92f87b53a103ec641951e">readHeader</a> (<span class="keyword">const</span> std::string &file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &cloud,</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">int</span> &file_version, <span class="keywordtype">int</span> &data_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &data_idx, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0) <span class="keyword">override</span> ;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"></span> </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> /** \brief Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> * \param[in] file_name the name of the file containing the actual PointCloud data</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> * \param[out] cloud the resultant PointCloud message read from disk</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> * \param[out] origin the sensor acquisition origin (only for > FILE_V7 - null if not present)</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \param[out] orientation the sensor acquisition orientation (only for > FILE_V7 - identity if not present)</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> * \param[in] offset the offset in the file where to expect the true header to begin.</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> * One usage example for setting the offset parameter is for reading</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> * data from a TAR "archive containing multiple files: TAR files always</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> * add a 512 byte header in front of the actual file, so set the offset</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> * to the next byte after the header (e.g., 513).</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a8d8f8fb83b6460222cf1ad1d7e916ee6"> 101</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a8d8f8fb83b6460222cf1ad1d7e916ee6">read</a> (<span class="keyword">const</span> std::string &file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &cloud,</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, <span class="keywordtype">int</span> &file_version,</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"></span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> /** \brief Set the ascii file point fields.</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">void</span> setInputFields ();</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"></span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> /** \brief Set the ascii file point fields using a list of fields.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * \param[in] fields is a list of point fields, in order, in the input ascii file</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da"> 114</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">setInputFields</a> (<span class="keyword">const</span> std::vector<pcl::PCLPointField>& fields);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"></span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> /** \brief Set the Separating characters for the ascii point fields 2.</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * \param[in] chars string of separating characters</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> * Sets the separating characters for the point fields. The</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> * default separating characters are " \n\t,"</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e"> 122</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">setSepChars</a> (<span class="keyword">const</span> std::string &chars);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"></span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> /** \brief Set the extension of the ascii point file type.</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> * \param[in] ext extension (example : ".txt" or ".xyz" )</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25"> 128</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">setExtension</a> (<span class="keyword">const</span> std::string &ext) { extension_ = ext; }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a079004a63a0be83842a7c508a0957c13"> 131</a></span>  std::string sep_chars_{<span class="stringliteral">", \n\r\t"</span>};</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a33952acf5ff4bd6944657efcb1a923fe"> 132</a></span>  std::string extension_{<span class="stringliteral">".txt"</span>};</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a8ba3000decde358c61d29d7e4e7f566e"> 133</a></span>  std::vector<pcl::PCLPointField> <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a8ba3000decde358c61d29d7e4e7f566e">fields_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a5bf8107e2d0a19a8a8ea5875b0f5ff4f"> 134</a></span>  std::string name_{<span class="stringliteral">"AsciiReader"</span>};</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"></span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> /** \brief Parses token based on field type.</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> * \param[in] token string representation of point fields</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> * \param[in] field token point field type</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> * \param[out] data_target address that the point field data should be assigned to</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> * returns the size of the parsed point field in bytes</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a0ee7d7d3c4a801f52d13b2fdbe27a3d3"> 144</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a0ee7d7d3c4a801f52d13b2fdbe27a3d3">parse</a> (<span class="keyword">const</span> std::string& token, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a>& field, std::uint8_t* data_target);</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"></span> </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> /** \brief Returns the size in bytes of a point field type.</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> * \param[in] type point field type</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> * returns the size of the type in bytes</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  std::uint32_t </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#ae8d7c0b1f55173394f612457bfd14e72"> 151</a></span>  <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#ae8d7c0b1f55173394f612457bfd14e72">typeSize</a> (<span class="keywordtype">int</span> type);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  };</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="preprocessor">#include <pcl/io/impl/ascii_io.hpp></span></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html">pcl::ASCIIReader</a></div><div class="ttdoc">Ascii Point Cloud Reader.</div><div class="ttdef"><b>Definition:</b> <a href="ascii__io_8h_source.html#l00055">ascii_io.h:56</a></div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a0ee7d7d3c4a801f52d13b2fdbe27a3d3"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a0ee7d7d3c4a801f52d13b2fdbe27a3d3">pcl::ASCIIReader::parse</a></div><div class="ttdeci">int parse(const std::string &token, const pcl::PCLPointField &field, std::uint8_t *data_target)</div><div class="ttdoc">Parses token based on field type.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a3359188af9d92f87b53a103ec641951e"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a3359188af9d92f87b53a103ec641951e">pcl::ASCIIReader::readHeader</a></div><div class="ttdeci">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</div><div class="ttdoc">Read a point cloud data header from a FILE file.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a5dfe46c5b5fc539b93a43e9cb1491c36"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a5dfe46c5b5fc539b93a43e9cb1491c36">pcl::ASCIIReader::ASCIIReader</a></div><div class="ttdeci">ASCIIReader()</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a7bb863c698a17ff7036f6d1bf12041da"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">pcl::ASCIIReader::setInputFields</a></div><div class="ttdeci">void setInputFields(const std::vector< pcl::PCLPointField > &fields)</div><div class="ttdoc">Set the ascii file point fields using a list of fields.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a8ba3000decde358c61d29d7e4e7f566e"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a8ba3000decde358c61d29d7e4e7f566e">pcl::ASCIIReader::fields_</a></div><div class="ttdeci">std::vector< pcl::PCLPointField > fields_</div><div class="ttdef"><b>Definition:</b> <a href="ascii__io_8h_source.html#l00133">ascii_io.h:133</a></div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a8d8f8fb83b6460222cf1ad1d7e916ee6"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a8d8f8fb83b6460222cf1ad1d7e916ee6">pcl::ASCIIReader::read</a></div><div class="ttdeci">int read(const std::string &file_name, pcl::PCLPointCloud2 &cloud, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &file_version, const int offset=0) override</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a97dac034b56d0f4b3d1aa3d8b8f7ab25"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">pcl::ASCIIReader::setExtension</a></div><div class="ttdeci">void setExtension(const std::string &ext)</div><div class="ttdoc">Set the extension of the ascii point file type.</div><div class="ttdef"><b>Definition:</b> <a href="ascii__io_8h_source.html#l00128">ascii_io.h:128</a></div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_ab355f4e2e73089804fddb89bcf9b1bca"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#ab355f4e2e73089804fddb89bcf9b1bca">pcl::ASCIIReader::~ASCIIReader</a></div><div class="ttdeci">~ASCIIReader() override</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_ac2b5e96e43e00f712717948300f21f6e"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">pcl::ASCIIReader::setSepChars</a></div><div class="ttdeci">void setSepChars(const std::string &chars)</div><div class="ttdoc">Set the Separating characters for the ascii point fields 2.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_ae8d7c0b1f55173394f612457bfd14e72"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#ae8d7c0b1f55173394f612457bfd14e72">pcl::ASCIIReader::typeSize</a></div><div class="ttdeci">std::uint32_t typeSize(int type)</div><div class="ttdoc">Returns the size in bytes of a point field type.</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html"><div class="ttname"><a href="classpcl_1_1_file_reader.html">pcl::FileReader</a></div><div class="ttdoc">Point Cloud Data (FILE) file format reader interface.</div><div class="ttdef"><b>Definition:</b> <a href="io_2include_2pcl_2io_2file__io_8h_source.html#l00056">file_io.h:57</a></div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_a6c7b7ed00b43536739a8465064426c1b"><div class="ttname"><a href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">pcl::FileReader::read</a></div><div class="ttdeci">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</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00323">pcl_macros.h:323</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00016">PCLPointCloud2.h:17</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_field_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a></div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_field_8h_source.html#l00012">PCLPointField.h:13</a></div></div>
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