-- Hoogle documentation, generated by Haddock
-- See Hoogle, http://www.haskell.org/hoogle/


-- | PCD file loader.
--   
--   Parser for PCD (point cloud data) formats. See
--   <a>http://pointclouds.org/documentation/tutorials/pcd_file_format.php</a>
--   for more information.
@package pcd-loader
@version 0.1.1.0


-- | Common types for dealing with PCD files.
module PCD.Internal.Types

-- | A 2-dimensional vector
data V2 a :: * -> *
V2 :: a -> a -> V2 a

-- | A 3-dimensional vector
data V3 a :: * -> *
V3 :: a -> a -> a -> V3 a

-- | A 4-dimensional vector.
data V4 a :: * -> *
V4 :: a -> a -> a -> a -> V4 a
type M44 a = V4 (V4 a)
data Quaternion a :: * -> *
Quaternion :: a -> {-# UNPACK #-} !(V3 a) -> Quaternion a

-- | <a>Storable</a>-based vectors
data Vector a :: * -> *

-- | 8-bit unsigned integer type
data Word8 :: *


-- | Define a data structure for a PCD file header and an associated
--   parser.
module PCD.Header

-- | Fields attached to a point may be signed integers (I), unsigned
--   integers (U), or floating point (F).
data DimType
I :: DimType
U :: DimType
F :: DimType

-- | The PCD format has both ASCII and binary variants.
data DataFormat
ASCII :: DataFormat
Binary :: DataFormat
data FieldType
TUchar :: Word8 -> FieldType
TChar :: Int8 -> FieldType
TUshort :: Word16 -> FieldType
TShort :: Int16 -> FieldType
TUint :: Word32 -> FieldType
TInt :: Int32 -> FieldType
TFloat :: Float -> FieldType
TDouble :: Double -> FieldType

-- | Construct a parser for a field based on its type and size.
fieldParser :: DimType -> Int -> Parser FieldType

-- | Assemble a parser for points by sequencing together all necessary
--   field parsers.
pointParser :: Header -> Parser [FieldType]
data Header
Header :: Text -> [Text] -> [Int] -> [DimType] -> [Int] -> Integer -> Int -> (V3 Double, Quaternion Double) -> Integer -> DataFormat -> Header
_version :: Header -> Text
_fields :: Header -> [Text]
_sizes :: Header -> [Int]
_dimTypes :: Header -> [DimType]
_counts :: Header -> [Int]
_width :: Header -> Integer
_height :: Header -> Int
_viewpoint :: Header -> (V3 Double, Quaternion Double)
_points :: Header -> Integer
_format :: Header -> DataFormat
width :: Lens Header Header Integer Integer
viewpoint :: Lens Header Header (V3 Double, Quaternion Double) (V3 Double, Quaternion Double)
version :: Lens Header Header Text Text
sizes :: Lens Header Header [Int] [Int]
points :: Lens Header Header Integer Integer
height :: Lens Header Header Int Int
format :: Lens Header Header DataFormat DataFormat
fields :: Lens Header Header [Text] [Text]
dimTypes :: Lens Header Header [DimType] [DimType]
counts :: Lens Header Header [Int] [Int]
defaultHeader :: Header
readVersion :: Parser Text
readFields :: Parser [Text]
readTypes :: Parser [DimType]
namedIntegral :: Integral a => Text -> Parser a
namedIntegrals :: Integral a => Text -> Parser [a]
readViewpoint :: Parser (V3 Double, Quaternion Double)
readFormat :: Parser DataFormat

-- | Get the next non-comment line.
nextLine :: Handle -> IO Text

-- | Parse a PCD header. Returns the <a>Header</a> and the rest of the file
--   contents.
readHeader :: Handle -> IO (Header, Maybe Text)

-- | Format a <a>Header</a> to be compatible with the PCD specification.
writeHeader :: Header -> Text
instance NFData Header
instance Eq DimType
instance Show DimType
instance Ord DimType
instance Eq DataFormat
instance Show DataFormat
instance Ord DataFormat
instance Show Header


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

-- | Read point data using a user-supplied ASCII point parser.
readAsciiPoints :: Vector v a => Header -> Handle -> Parser a -> IO (v a)

-- | Load points of unknown dimension into a boxed vector with a list of
--   <a>FieldType</a> as the point representation.
readAsciiPointsDefault :: Header -> Handle -> IO (Vector [FieldType])

-- | Read back <a>Storable</a> points saved as binary data.
readBinPoints :: Storable a => Header -> Handle -> IO (Either String (Vector a))

-- | Reads point data in either ASCII or binary formats given an ASCII
--   parser for the point data type and a <a>Storable</a> instance. If you
--   know that your points are binary or ASCII, consider using
--   <a>readBinPoints</a> or <a>readAsciiPoints</a>.
readPointData :: Storable a => Header -> Handle -> Parser a -> IO (Either String (Vector a))

-- | Parse 3D points serialized in ASCII.
readXYZ_ascii :: Fractional a => Parser (V3 a)

-- | Parse 4D points serialized to ASCII. This is useful for points with
--   X,Y,Z, and RGB fields each represented by a single float.
readXYZW_ascii :: Fractional a => Parser (V4 a)

-- | 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
--   <a>Binary</a>.
saveBinaryPcd :: Storable a => FilePath -> Header -> Vector a -> IO ()

-- | Convert the single-precision floating point XYZ or XYZW (where "W" may
--   be an RGB triple encoded as a single float) points in an ASCII PCD to
--   a binary PCD file.
asciiToBinary :: FilePath -> FilePath -> IO ()

-- | Load points stored in a PCD file into a <a>Vector</a>.
loadPoints :: Storable a => Parser a -> FilePath -> IO (Vector a)

-- | Read a PCD file consisting of floating point XYZ coordinates for each
--   point.
loadXyz :: (Fractional a, Storable a) => FilePath -> IO (Vector (V3 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).
loadXyzw :: (Fractional a, Storable a) => FilePath -> IO (Vector (V4 a))