PCD.Data

Parser for PCD (point cloud data) files. Also provides a facility for converting from ASCII to binary formatted point data.

Documentation

data FieldType

Constructors

TUchar !Word8

TChar !Int8

TUshort !Word16

TShort !Int16

TUint !Word32

TInt !Int32

TFloat !Float

TDouble !Double

Instances

Show FieldType

unsafeUnwrap :: PCDType a => FieldType -> a

Extract a raw Haskell value from the FieldType variant. If you know what you've got, this frees from having to pattern match on the FieldType constructor. If you're wrong, you'll get an exception.

loadAllFields :: FilePath -> IO (Text -> Vector FieldType)

Parse every field of every point in a PCD file. Returns a function that may be used to project out a named field.

loadXyzw :: (Fractional a, Storable a) => FilePath -> IO (Vector (V4 a))

Read a PCD file consisting of floating point XYZW coordinates for each point (where the final "W" field may be an RGB triple encoded as a float).

loadXyz :: (Fractional a, Storable a) => FilePath -> IO (Vector (V3 a))

Read a PCD file consisting of floating point XYZ coordinates for each point.

asciiToBinary :: FilePath -> FilePath -> IO ()

asciiToBinary inputFile outputFile converts a PCD file from ASCII to Binary.

saveBinaryPcd :: forall a. Storable a => FilePath -> Header -> Vector a -> IO ()

Use an existing PCD header to save binary point data to a file. The supplied header is used as-is, except that its format is set to Binary.

projectBinaryFields :: [Text] -> FilePath -> FilePath -> IO ()

Save a binary PCD file including only the named fields.

mkSimpleHeader :: [Text] -> (DimType, Int) -> Int -> Header

Make a PCD header for a monotyped vector point type. mkSimpleHeader fields (type,sz) n prepares a Header for n points with field names fields, field type given by type, and field size given by sz. Example to save 1000 3D points:

 mkSimpleHeader ["x","y","z"] (F,4) 1000

mkHeaderXYZ :: PCDType a => a -> Int -> Header

mkHeaderXYZ sample n builds a Header for n points with fields "x", "y", and "z" of DimType and size (in bytes) derived from the PCDType instance of sample. Example:

 mkHeaderXYZ (undefined::Float) 1000