IO Functions and classes that are dependant on scalar type are defined in this templatized class. More...

#include <IO.h>

Classes
struct	CsvDescriptor
	A structure to hold information about descriptors contained in a CSV file. More...

struct	FileInfo
	Information to exploit a reading from a file using this library. Fields might be left blank if unused. More...

struct	FileInfoVector
	A vector of file info, to be used in batch processing. More...

struct	GenericInputHeader
	Helper structure designed to parse file headers. More...

class	LabelGenerator
	Generate a vector of Labels by checking for collision is the same name is reused. More...

struct	PCDheader
	All information contained in the header of a PCD file. More...

struct	PCDproperty
	Information for a PCD property. More...

class	PLYElement
	Interface for all PLY elements. More...

class	PLYElementF
	Factory for PLY elements. More...

struct	PLYProperty
	Interface for PLY property. More...

class	PLYVertex
	Implementation of PLY vertex element. More...

struct	SplitTime
	Storage for time loaded separatly. More...

struct	SupportedLabel
	Structure containing all information required to map external information to PointMatcher internal representation. More...

Public Types
enum	PMPropTypes { FEATURE, DESCRIPTOR, TIME, UNSUPPORTED }
	Type of information in a DataPoints. Each type is stored in its own dense matrix.

enum	SupportedVTKDataTypes { POLYDATA, UNSTRUCTURED_GRID }
	Enumeration of legacy VTK data types that can be parsed.

typedef PointMatcher< T >::Vector	Vector
	alias

typedef PointMatcher< T >::Matrix	Matrix
	alias

typedef PointMatcher< T >::Int64Matrix	Int64Matrix
	alias

typedef PointMatcher< T >::DataPoints	DataPoints
	alias

typedef PointMatcher< T >::TransformationParameters	TransformationParameters
	alias

typedef PointMatcher< T >::Matrix	Parameters
	alias

typedef PointMatcher< T >::DataPoints::Label	Label
	alias

typedef PointMatcher< T >::DataPoints::Labels	Labels
	alias

typedef std::pair< int, std::string >	LabelAssociationPair
	Pair feature column, feature name.

typedef std::map< std::string, LabelAssociationPair >	SublabelAssociationMap
	Map to associate common descriptor sublabels to PM descriptor matrix row and labels ex: nx, ny, nz are associated with (0,normals) (1,normals) (2,normals) respectively.

typedef std::vector< SupportedLabel >	SupportedLabels
	Vector of supported labels in PointMatcher and their external names.

typedef std::map< std::string, std::vector< PLYProperty > >	PLYDescPropMap
	Map from a descriptor name to a list PLY property ex: "normals" -> nx, ny ,nz.

typedef std::vector< PLYProperty >	PLYProperties
	Vector of properties specific to PLY files.

typedef PLYProperties::iterator	it_PLYProp
	Iterator for a vector of PLY properties.

Static Public Member Functions
static std::string	getColLabel (const Label &label, const int row)
	convert a descriptor label to an appropriate sub-label

static const SupportedLabels &	getSupportedExternalLabels ()
	Vector containing the mapping of all external names to PointMatcher representation. More...

static DataPoints	loadCSV (const std::string &fileName)
	Associate an external name to a DataPoints type of information. More...

static DataPoints	loadCSV (std::istream &is)
	Load comma separated values (csv) file. More...

static void	saveCSV (const DataPoints &data, const std::string &fileName)
	Save point cloud to a file as CSV.

static void	saveCSV (const DataPoints &data, std::ostream &os)
	Save point cloud to a stream as CSV.

static DataPoints	loadVTK (const std::string &fileName)
	Load point cloud from a file as VTK.

static DataPoints	loadVTK (std::istream &is)
	Load point cloud from a stream as VTK.

static void	saveVTK (const DataPoints &data, const std::string &fileName, bool binary=false)
	Save point cloud to a file as VTK.

static DataPoints	loadPLY (const std::string &fileName)
	Load polygon file format (ply) file. More...

static DataPoints	loadPLY (std::istream &is)
	Load polygon file format (PLY) file. More...

static void	savePLY (const DataPoints &data, const std::string &fileName)
	save datapoints to PLY point cloud format

static DataPoints	loadPCD (const std::string &fileName)
	Load Point Cloud Library (pcd) file. More...

static DataPoints	loadPCD (std::istream &is)
	Load PCD file. More...

static void	savePCD (const DataPoints &data, const std::string &fileName)
	save datapoints to PCD point cloud format

static bool	plyPropTypeValid (const std::string &type)
	Check that property defined by type is a valid PLY type note: type must be lowercase.

Detailed Description

template<typename T>
struct PointMatcherIO< T >

IO Functions and classes that are dependant on scalar type are defined in this templatized class.

Member Function Documentation

◆ getSupportedExternalLabels()

template<typename T>

static const SupportedLabels& PointMatcherIO< T >::getSupportedExternalLabels ( )

inlinestatic

Vector containing the mapping of all external names to PointMatcher representation.

The order is important (i.e., nx before ny). This can also be used to remap 1D descriptor name to a better one.

◆ loadCSV() [1/2]

template<typename T >

template PointMatcher< double >::DataPoints PointMatcherIO< T >::loadCSV ( const std::string & fileName )

static

Associate an external name to a DataPoints type of information.

Load comma separated values (csv) file.

Parameters

fileName a string containing the path and the file name

This loader has 3 behaviors since there is no official standard for csv files. A 2D or 3D point cloud will be created automatically if:

there is a header with columns named x, y and optionnaly z
there are only 2 or 3 columns in the file

Otherwise, the user is asked to enter column id manually which might block automatic processing.

◆ loadCSV() [2/2]

template<typename T >

PointMatcher< T >::DataPoints PointMatcherIO< T >::loadCSV ( std::istream & is )

static

Load comma separated values (csv) file.

See also: loadCSV()

◆ loadPCD() [1/2]

template<typename T >

template PointMatcherIO< double >::DataPoints PointMatcherIO< T >::loadPCD ( const std::string & fileName )

static

Load Point Cloud Library (pcd) file.

Parameters

fileName a string containing the path and the file name

◆ loadPCD() [2/2]

template<typename T >

PointMatcherIO< T >::DataPoints PointMatcherIO< T >::loadPCD ( std::istream & is )

static

Load PCD file.

See also: loadPCD()

◆ loadPLY() [1/2]

template<typename T >

template PointMatcherIO< double >::DataPoints PointMatcherIO< T >::loadPLY ( const std::string & fileName )

static

Load polygon file format (ply) file.

Parameters

fileName a string containing the path and the file name

Note: that the PLY does not define a standard for point clouds Warning: Binary PLY files are not supported, only ASCII Only PLY files with elements named "vertex" are supported "vertex" should have 2 or 3 properties names "x", "y", "z" to define features.

◆ loadPLY() [2/2]

template<typename T >

PointMatcherIO< T >::DataPoints PointMatcherIO< T >::loadPLY ( std::istream & is )

static

Load polygon file format (PLY) file.

See also: loadPLY()

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

IO.h
IO.cpp

Classes

Public Types

Static Public Member Functions

Detailed Description

template<typename T> struct PointMatcherIO< T >

Member Function Documentation

◆ getSupportedExternalLabels()

◆ loadCSV() [1/2]

◆ loadCSV() [2/2]

◆ loadPCD() [1/2]

◆ loadPCD() [2/2]

◆ loadPLY() [1/2]

◆ loadPLY() [2/2]

template<typename T>
struct PointMatcherIO< T >