G*CI      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHNone IJKLMNO   Safe-InferredPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ANone 3The PCD format has both ASCII and binary variants. #@Fields attached to a point may be signed integers (I), unsigned & integers (U), or floating point (F). ';Construct a parser for a field based on its type and size. (BAssemble a parser for points by sequencing together all necessary  field parsers. ;Get the next non-comment line. < Parse a PCD header. Returns the   and the rest of the file  contents. = Format a  . to be compatible with the PCD specification. 4  !"#$%&'()*+,-./0123456789:;<=B3  !"#$%&'()*+,-./0123456789:;<=3#&%$ "!'( 210/.-,+*)3456789:;<=  "!#&%$'()*+,-./0123456789:;<=BNone >:Read point data using a user-supplied ASCII point parser. ?ALoad points of unknown dimension into a boxed vector with a list  of  as the point representation. @ Read back C points saved as binary data. ABReads point data in either ASCII or binary formats given an ASCII & parser for the point data type and a C instance. If you ; know that your points are binary or ASCII, consider using  @ or >. B%Parse 3D points serialized in ASCII. C?Parse 4D points serialized to ASCII. This is useful for points @ with X,Y,Z, and RGB fields each represented by a single float. D:Use an existing PCD header to save binary point data to a D file. The supplied header is used as-is, except that its format is  set to !. E?Convert the single-precision floating point XYZ or XYZW (where  "W"> may be an RGB triple encoded as a single float) points in an ! ASCII PCD to a binary PCD file. F(Load points stored in a PCD file into a  . GARead a PCD file consisting of floating point XYZ coordinates for  each point. HBRead a PCD file consisting of floating point XYZW coordinates for  each point (where the final "W" field may be an RGB triple  encoded as a float). >?@ABCDEFGH >?@ABCDEFGH >?@ABCDEFGH >?@ABCDEFGHD         !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSUSVSWSXSYSZ[\[]^_`^_a^_b^_c^_d^_e^_f^_g^_h^_i^_j^_k^_l^_m^_n^_o^_p^_q^_r^_s^_t^_u^_v^_w^_x^_y^_z^_{^_|^_}^_~^_^_^_^_^_^_^_^_^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^ ^ ^ ^ ^^^^^^^^^^^^^^^^^^^ ^!^"^#^$^%^&^'^(^)^*^+^,^-^.^/^0^1^2^3^4^56^57^58^59^:;^:<^:=^:>^:?^:@^:A^:B^:C^:D^:E^:F^:G^:H^:I^:J^:K^:L^:M^:N^:O^:P^:Q^:R^:R^ST^SU^SV^SW^SX^SY^SZ^S[^S\^S\^S]^^_^^`^^a^^b^^c^^d^^e^^f^^g^^h^^i^^j^^k^^l^mn^mo^mp^mq^mr^ms^mt^mu^mv^mw^mx^my^mz^m{^m|^m}^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^ ^ ^ ^ ^^^^^^^^^^^^^^^^^^^ 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