41 #include <pcl/common/io.h>
42 #include <pcl/io/boost.h>
45 #include <pcl/PolygonMesh.h>
46 #include <pcl/TextureMesh.h>
86 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
87 int &file_version,
int &data_type,
unsigned int &data_idx,
const int offset = 0) = 0;
103 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &file_version,
104 const int offset = 0) = 0;
125 Eigen::Vector4f origin;
126 Eigen::Quaternionf orientation;
128 return (
read (file_name, cloud, origin, orientation, file_version, offset));
140 template<
typename Po
intT>
inline int
146 file_version, offset);
180 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
181 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
182 const bool binary =
false) = 0;
194 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
195 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
196 const bool binary =
false)
198 return (
write (file_name, *cloud, origin, orientation, binary));
207 template<
typename Po
intT>
inline int
208 write (
const std::string &file_name,
210 const bool binary =
false)
219 return (
write (file_name, blob, origin, orientation, binary));
234 template <
typename Type>
inline
235 std::enable_if_t<std::is_floating_point<Type>::value>
237 const unsigned int point_index,
238 const int point_size,
239 const unsigned int field_idx,
240 const unsigned int fields_count,
241 std::ostream &stream)
244 memcpy (&value, &cloud.
data[point_index * point_size + cloud.
fields[field_idx].offset + fields_count * sizeof (Type)],
sizeof (Type));
245 if (std::isnan (value))
251 template <
typename Type>
inline
252 std::enable_if_t<std::is_integral<Type>::value>
254 const unsigned int point_index,
255 const int point_size,
256 const unsigned int field_idx,
257 const unsigned int fields_count,
258 std::ostream &stream)
261 memcpy (&value, &cloud.
data[point_index * point_size + cloud.
fields[field_idx].offset + fields_count * sizeof (Type)],
sizeof (Type));
265 template <>
inline void
267 const unsigned int point_index,
268 const int point_size,
269 const unsigned int field_idx,
270 const unsigned int fields_count,
271 std::ostream &stream)
276 stream << boost::numeric_cast<int>(value);
279 template <>
inline void
281 const unsigned int point_index,
282 const int point_size,
283 const unsigned int field_idx,
284 const unsigned int fields_count,
285 std::ostream &stream)
290 stream << boost::numeric_cast<unsigned int>(value);
303 template <
typename Type>
inline
304 std::enable_if_t<std::is_floating_point<Type>::value,
bool>
306 const unsigned int point_index,
307 const int point_size,
308 const unsigned int field_idx,
309 const unsigned int fields_count)
312 memcpy (&value, &cloud.
data[point_index * point_size + cloud.
fields[field_idx].offset + fields_count * sizeof (Type)],
sizeof (Type));
313 return std::isfinite (value);
316 template <
typename Type>
inline
317 std::enable_if_t<std::is_integral<Type>::value,
bool>
338 template <
typename Type>
inline void
340 unsigned int point_index,
unsigned int field_idx,
unsigned int fields_count)
343 if (boost::iequals(st,
"nan"))
345 value = std::numeric_limits<Type>::quiet_NaN ();
350 std::istringstream is (st);
351 is.imbue (std::locale::classic ());
353 value = static_cast<Type> (atof (st.c_str ()));
357 cloud.
fields[field_idx].offset +
358 fields_count * sizeof (Type)], reinterpret_cast<char*> (&value),
sizeof (Type));
361 template <>
inline void
363 unsigned int point_index,
unsigned int field_idx,
unsigned int fields_count)
366 if (boost::iequals(st,
"nan"))
368 value = static_cast<std::int8_t> (std::numeric_limits<int>::quiet_NaN ());
374 std::istringstream is (st);
375 is.imbue (std::locale::classic ());
378 val = static_cast<int> (atof (st.c_str ()));
379 value = static_cast<std::int8_t> (val);
383 cloud.
fields[field_idx].offset +
387 template <>
inline void
389 unsigned int point_index,
unsigned int field_idx,
unsigned int fields_count)
392 if (boost::iequals(st,
"nan"))
394 value = static_cast<std::uint8_t> (std::numeric_limits<int>::quiet_NaN ());
400 std::istringstream is (st);
401 is.imbue (std::locale::classic ());
404 val = static_cast<int> (atof (st.c_str ()));
405 value = static_cast<std::uint8_t> (val);
409 cloud.
fields[field_idx].offset +