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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#include <pcl/io/ascii_io.h>
#include <istream>
#include <fstream>
#include <boost/filesystem.hpp>
#include <cstdint>

//////////////////////////////////////////////////////////////////////////////
pcl::ASCIIReader::ASCIIReader ()
{
  extension_ = ".txt";
  sep_chars_ = ", \n\r\t";
  name_ = "AsciiReader";

  {
    pcl::PCLPointField f;
    f.datatype = pcl::PCLPointField::FLOAT32;
    f.count    = 1;
    f.name     = "x";
    f.offset   = 0;
    fields_.push_back (f);
  }

  {
    pcl::PCLPointField f;
    f.datatype = pcl::PCLPointField::FLOAT32;
    f.count    = 1;
    f.name     = "y";
    f.offset   = 4;
    fields_.push_back (f);
  }

  {
    pcl::PCLPointField f;
    f.datatype = pcl::PCLPointField::FLOAT32;
    f.count    = 1;
    f.name     = "z";
    f.offset   = 8;
    fields_.push_back (f);
  }
}

//////////////////////////////////////////////////////////////////////////////
pcl::ASCIIReader::~ASCIIReader ()
{
}

//////////////////////////////////////////////////////////////////////////////
int
pcl::ASCIIReader::readHeader (const std::string& file_name,
  pcl::PCLPointCloud2& cloud, Eigen::Vector4f& origin,
  Eigen::Quaternionf& orientation, int& file_version, int& data_type,
  unsigned int& data_idx, const int offset)
{
	(void)offset; //offset is not used for ascii file implementation
	
  boost::filesystem::path fpath = file_name;

  if (!boost::filesystem::exists (fpath))
  {
    PCL_ERROR ("[%s] File %s does not exist.\n", name_.c_str (), file_name.c_str ());
    return (-1);
  }
  if (boost::filesystem::extension (fpath) != extension_)
  {
    PCL_ERROR ("[%s] File does not have %s extension. \n", name_.c_str(), extension_.c_str());
    return -1;
  }

  cloud.fields = fields_;
  cloud.point_step = 0;
  for (std::size_t i = 0; i < fields_.size (); i++) 
    cloud.point_step += typeSize (cloud.fields[i].datatype);

  std::fstream ifile (file_name.c_str (), std::fstream::in);
  std::string line;
  int total = 0;
  while (std::getline (ifile, line))
    total++;

  origin = Eigen::Vector4f::Zero ();
  orientation = Eigen::Quaternionf ();
  cloud.width = total;
  cloud.height = 1;
  cloud.is_dense = true;
  file_version = -1;
  data_type = 0;
  data_idx  = 0;
  return (total);
}

//////////////////////////////////////////////////////////////////////////////
int
pcl::ASCIIReader::read (
    const std::string& file_name,
    pcl::PCLPointCloud2& cloud,
    Eigen::Vector4f& origin,
    Eigen::Quaternionf& orientation, int& file_version, const int offset)
{

  int  data_type;
  unsigned int data_idx;
  if (this->readHeader (file_name, cloud, origin, orientation, file_version, data_type, data_idx, offset) < 0) 
    return (-1);
  cloud.data.resize (cloud.height * cloud.width * cloud.point_step);

  std::string line;
  std::fstream ifile (file_name.c_str (), std::fstream::in);

  int total=0;

  std::uint8_t* data = &cloud.data[0];
  while (std::getline (ifile, line))
  {
    boost::algorithm::trim (line);
    if (line.find_first_not_of ('#') != 0) 
      continue;   //skip comment lines

   std::vector<std::string> tokens;
   boost::algorithm::split (tokens, line,boost::algorithm::is_any_of (sep_chars_), boost::algorithm::token_compress_on);

   if (tokens.size () != fields_.size ()) 
     continue;

   std::uint32_t offset = 0;
   try
   {
     for (std::size_t i = 0; i < fields_.size (); i++) 
       offset += parse (tokens[i], fields_[i], data + offset);
   }
   catch (std::exception& /*e*/)
   {
     continue;
   }
   data += offset;
   total++;
  }
  cloud.data.resize (total * cloud.point_step);
  return (cloud.width * cloud.height);
}

//////////////////////////////////////////////////////////////////////////////
void
pcl::ASCIIReader::setInputFields (const std::vector<pcl::PCLPointField>& fields)
{
	fields_ = fields;
}

//////////////////////////////////////////////////////////////////////////////
void
pcl::ASCIIReader::setSepChars (const std::string &chars)
{
	sep_chars_ = chars;
}

//////////////////////////////////////////////////////////////////////////////
int
pcl::ASCIIReader::parse (
    const std::string& token,
    const pcl::PCLPointField& field,
    std::uint8_t* data_target)
{
  switch (field.datatype)
  {
    case pcl::PCLPointField::INT8:
    {
      *(reinterpret_cast<std::int8_t*>(data_target)) = boost::lexical_cast<std::int8_t> (token);
      return (1);
    }
    case pcl::PCLPointField::UINT8:
    {
      *(reinterpret_cast<std::uint8_t*>(data_target)) = boost::lexical_cast<std::uint8_t> (token);
      return 1;
    }
    case pcl::PCLPointField::INT16:
    {
      *(reinterpret_cast<std::int16_t*>(data_target)) = boost::lexical_cast<std::int16_t> (token);
      return 2;
    }
    case pcl::PCLPointField::UINT16:
    {
      *(reinterpret_cast<std::uint16_t*>(data_target)) = boost::lexical_cast<std::uint16_t> (token);
      return 2;
    }
    case pcl::PCLPointField::INT32:
    {
      *(reinterpret_cast<std::int32_t*>(data_target)) = boost::lexical_cast<std::int32_t> (token);
      return 4;
    }
    case pcl::PCLPointField::UINT32:
    {
      *(reinterpret_cast<std::uint32_t*>(data_target)) = boost::lexical_cast<std::uint32_t> (token);
      return 4;
    }
    case pcl::PCLPointField::FLOAT32:
    {
      *(reinterpret_cast<float*>(data_target)) = boost::lexical_cast<float> (token);
      return 4;
    }
    case pcl::PCLPointField::FLOAT64:
    {
      *(reinterpret_cast<double*>(data_target)) = boost::lexical_cast<double> (token);
      return 8;
    }
  }
  return 0;
}

//////////////////////////////////////////////////////////////////////////////
std::uint32_t
pcl::ASCIIReader::typeSize (int type)
{
  switch (type)
  {
    case pcl::PCLPointField::INT8:
      return 1;
    case pcl::PCLPointField::UINT8:
      return 1;
    case pcl::PCLPointField::INT16:
      return 2;
    case pcl::PCLPointField::UINT16:
      return 2;
    case pcl::PCLPointField::INT32:
      return 4;
    case pcl::PCLPointField::UINT32:
      return 4;
    case pcl::PCLPointField::FLOAT32:
      return 4;
    case pcl::PCLPointField::FLOAT64:
      return 8;
  }
  return (0);
}

