/// <summary>
///
/// </summary>
/// <param name="filename">File to read from</param>
/// <param name="offset">Offset to start reading from</param>
/// <returns>Pointcloud of type T</returns>
public PointCloud <T> Read(String filename, int offset)
{
PCDHeader header = ReadHeader(filename);
List <T> pointList;
// Start reading data
using (StreamReader sr = new StreamReader(filename))
{
String line = sr.ReadLine();
while (!line.Contains("DATA"))
{
line = sr.ReadLine();
}
if (line.Contains("ascii"))
{
pointList = readData(sr);
}
else
{
throw new PCDReaderException("Data in file in unrecognized format.");
}
}
PointCloud <T> cloud = new PointCloud <T>(pointList);
cloud.Height = header.Height;
cloud.Width = header.Width;
return(cloud);
}
/// <summary>
/// Reads the header of PCD file;
/// </summary>
/// <param name="filename">PCD File</param>
/// <returns>PCDHeader object</returns>
public PCDHeader ReadHeader(string filename)
{
PCDHeader header = new PCDHeader();
using (StreamReader sr = new StreamReader(filename))
{
String line = sr.ReadLine();
// TODO: Code needs some refactoring. Lots of repeated code but it works.
// Keep reading until Datasection is found
while (line != null && !line.Contains("DATA"))
{
if (line.Contains("VERSION"))
{
header.Version = getVersion(line);
}
if (line.Contains("FIELDS"))
{
// Read fieldsnames from the line expects no spaces in field name
string[] fields = line.Substring(7).Split(' ');
for (int i = 0; i < fields.Length; i++)
{
header.Fields.Add(i, new FieldDescription {
Name = fields[i]
});
}
}
if (line.Contains("SIZE"))
{
if (header.Fields.Count == 0)
{
throw new PointCloudException("No fields found in pcb file.");
}
string[] fields = line.Substring(7).Split(' ');
for (int i = 0; i < fields.Length; i++)
{
FieldDescription desc = header.Fields[i];
desc.Size = Convert.ToInt32(fields[i]);
header.Fields[i] = desc;
}
}
if (line.Contains("TYPE"))
{
if (header.Fields.Count == 0)
{
throw new PointCloudException("No fields found in pcb file.");
}
string[] fields = line.Substring(5).Split(' ');
for (int i = 0; i < fields.Length; i++)
{
FieldDescription desc = header.Fields[i];
desc.Type = fields[i].ToCharArray()[0];
header.Fields[i] = desc;
}
}
if (line.Contains("COUNT"))
{
if (header.Fields.Count == 0)
{
throw new PointCloudException("No fields found in pcb file.");
}
string[] fields = line.Substring(6).Split(' ');
for (int i = 0; i < fields.Length; i++)
{
FieldDescription desc = header.Fields[i];
desc.Count = Convert.ToInt32(fields[i]);
header.Fields[i] = desc;
}
}
if (line.Contains("WIDTH"))
{
header.Width = Convert.ToInt32(line.Substring(6));
}
if (line.Contains("HEIGHT"))
{
header.Height = Convert.ToInt32(line.Substring(7));
}
line = sr.ReadLine();
}
}
return(header);
}
