PCD.Header

Define a data structure for a PCD file header and an associated parser.

Documentation

data DimType

Fields attached to a point may be signed integers (I), unsigned integers (U), or floating point (F).

Constructors

I

U

F

Instances

Eq DimType

Ord DimType

Show DimType

data DataFormat

The PCD format has both ASCII and binary variants.

Constructors

ASCII

Binary

Instances

Eq DataFormat

Ord DataFormat

Show DataFormat

data FieldType

Constructors

TUchar !Word8

TChar !Int8

TUshort !Word16

TShort !Int16

TUint !Word32

TInt !Int32

TFloat !Float

TDouble !Double

Instances

Show FieldType

class PCDType a where

Methods

unsafeUnwrap :: 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.

fromHaskell :: a -> (DimType, Int)

Associate a DimType and a size (in bytes) for every instance of PCDType. The argument to fromHaskell is never evaluated.

Instances

PCDType Double

PCDType Float

PCDType Int8

PCDType Int16

PCDType Int32

PCDType Word8

PCDType Word16

PCDType Word32

fieldParser :: DimType -> Int -> Parser FieldType

Construct a parser for a field based on its type and size.

sequence' :: Monad m => [m a] -> m [a]

data Header

Constructors

Header

Fields

_version :: Text

_fields :: [Text]

_sizes :: [Int]

_dimTypes :: [DimType]

_counts :: [Int]

_width :: Integer

_height :: Int

_viewpoint :: (V3 Double, Quaternion Double)

_points :: Integer

_format :: DataFormat

Instances

Show Header

NFData Header

width :: Lens' Header Integer

viewpoint :: Lens' Header (V3 Double, Quaternion Double)

version :: Lens' Header Text

sizes :: Lens' Header [Int]

points :: Lens' Header Integer

height :: Lens' Header Int

format :: Lens' Header DataFormat

fields :: Lens' Header [Text]

dimTypes :: Lens' Header [DimType]

counts :: Lens' Header [Int]

defaultVersion :: Text

The default PCD version of 0.7.

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 using a single-precision floating point number (4 bytes) for each field:

 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

pointParser :: Header -> Parser [FieldType]

Assemble a parser for points by sequencing together all necessary field parsers.

filterFields :: (Text -> Bool) -> Header -> Header

Create a Header based on an existing one that keeps only the fields whose names pass the supplied predicate.

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

nextLine :: Handle -> IO Text

Get the next non-comment line.

readHeader :: Handle -> IO (Header, Maybe Text)

Parse a PCD header. Returns the Header and the rest of the file contents.

writeHeader :: Header -> Text

Format a Header to be compatible with the PCD specification.

totalBinarySize :: Header -> Int

Compute the number of bytes this point cloud would occupy if serialized with the Binary encoding.