pcd-loader 0.2.2 → 0.2.3.1

raw patch · 3 files changed

+44/−4 lines, 3 filesPVP ok

version bump matches the API change (PVP)

API changes (from Hackage documentation)

Files

• pcd-loader.cabal +1/−1
• src/PCD/Data.hs +1/−1
• src/PCD/Header.hs +42/−2

@@ -1,5 +1,5 @@ name:                pcd-loader-version:             0.2.2+version:             0.2.3.1 synopsis:            PCD file loader. description:         Parser for PCD (point cloud data) formats.  See                      <http://pointclouds.org/documentation/tutorials/pcd_file_format.php>

@@ -3,7 +3,7 @@ -- for converting from ASCII to binary formatted point data. module PCD.Data (FieldType(..), unsafeUnwrap, loadAllFields,                   loadXyzw, loadXyz, asciiToBinary, saveBinaryPcd, -                 projectBinaryFields) where+                 projectBinaryFields, mkSimpleHeader, mkHeaderXYZ) where import Control.Applicative import Control.DeepSeq import Control.Monad (when)

@@ -38,39 +38,54 @@                  deriving Show  class PCDType a where+  -- |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.   unsafeUnwrap :: FieldType -> a+  -- |Associate a 'DimType' and a size (in bytes) for every instance+  -- of 'PCDType'. The argument to 'fromHaskell' is never evaluated.+  fromHaskell :: a -> (DimType,Int)  instance PCDType Word8 where   unsafeUnwrap (TUchar x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Word8"+  fromHaskell _ = (U,1)  instance PCDType Int8 where   unsafeUnwrap (TChar x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Int8"+  fromHaskell _ = (I,1)  instance PCDType Word16 where   unsafeUnwrap (TUshort x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Word16"+  fromHaskell _ = (U,2)  instance PCDType Int16 where   unsafeUnwrap (TShort x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Int16"+  fromHaskell _ = (I,2)  instance PCDType Word32 where   unsafeUnwrap (TUint x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Word32"+  fromHaskell _ = (U,4)  instance PCDType Int32 where   unsafeUnwrap (TInt x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Int32"+  fromHaskell _ = (I,4)  instance PCDType Float where   unsafeUnwrap (TFloat x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Float"+  fromHaskell _ = (F,4)  instance PCDType Double where   unsafeUnwrap (TDouble x) = x   unsafeUnwrap y = error $ "Tried to unwrap "++show y++" as a Double"+  fromHaskell _ = (F,8)  -- |Construct a parser for a field based on its type and size. fieldParser :: DimType -> Int -> Parser FieldType@@ -102,6 +117,31 @@                      , _format    :: DataFormat } deriving Show makeLenses ''Header +-- |The default PCD version of 0.7.+defaultVersion :: Text+defaultVersion = "0.7"++-- |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:+--+-- > mkSimpleHeader ["x","y","z"] (F,4) 1000+mkSimpleHeader :: [Text] -> (DimType,Int) -> Int -> Header+mkSimpleHeader fields (t,sz) numPts = +  Header "0.7" fields (rep sz) (rep t) (rep 1) n 1 (0, Quaternion 1 0) n Binary+    where numFields = length fields+          rep = replicate numFields+          n = fromIntegral numPts++-- |@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+mkHeaderXYZ :: PCDType a => a -> Int -> Header+mkHeaderXYZ = mkSimpleHeader ["x","y","z"] . fromHaskell+ -- |Assemble a parser for points by sequencing together all necessary -- field parsers. pointParser :: Header -> Parser [FieldType]@@ -111,8 +151,8 @@ -- |Create a 'Header' based on an existing one that keeps only the -- fields whose names pass the supplied predicate. filterFields :: (Text -> Bool) -> Header -> Header-filterFields f h = h % (fields %~ keep) . (sizes %~ keep)-                     . (dimTypes %~ keep) . (counts %~ keep)+filterFields f h = (fields %~ keep) . (sizes %~ keep)+                 . (dimTypes %~ keep) . (counts %~ keep) $ h   where keepers = map f (_fields h)         keep = map snd . filter fst . zip keepers