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pcd_io.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include <fstream>
#include <fcntl.h>
#include <string>
#include <cstdlib>
#include <pcl/common/utils.h> // pcl::utils::ignore
#include <pcl/common/io.h>
#include <pcl/common/pcl_filesystem.h>
#include <pcl/io/low_level_io.h>
#include <pcl/io/lzf.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/split.h>
#include <pcl/console/time.h>
#include <cstring>
#include <cerrno>
///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::PCDWriter::setLockingPermissions (const std::string &file_name,
boost::interprocess::file_lock &lock)
{
pcl::utils::ignore(file_name, lock);
#ifndef _WIN32
#ifndef NO_MANDATORY_LOCKING
// Attempt to lock the file.
// For mandatory locking, the filesystem must be mounted with the "mand" option in Linux (see http://www.hackinglinuxexposed.com/articles/20030623.html)
lock = boost::interprocess::file_lock (file_name.c_str ());
if (lock.try_lock ())
PCL_DEBUG ("[pcl::PCDWriter::setLockingPermissions] File %s locked successfully.\n", file_name.c_str ());
else
PCL_DEBUG ("[pcl::PCDWriter::setLockingPermissions] File %s could not be locked!\n", file_name.c_str ());
try
{
#ifdef PCL_USING_STD_FILESYSTEM
pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::add);
#else
pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::add_perms | pcl_fs::set_gid_on_exe);
#endif
}
catch (const std::exception &e)
{
PCL_DEBUG ("[pcl::PCDWriter::setLockingPermissions] Permissions on %s could not be set!\n", file_name.c_str ());
}
#endif
#endif
}
///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::PCDWriter::resetLockingPermissions (const std::string &file_name,
boost::interprocess::file_lock &lock)
{
pcl::utils::ignore(file_name, lock);
#ifndef _WIN32
#ifndef NO_MANDATORY_LOCKING
try
{
#ifdef PCL_USING_STD_FILESYSTEM
pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::remove);
#else
pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::remove_perms | pcl_fs::set_gid_on_exe);
#endif
}
catch (const std::exception &e)
{
PCL_DEBUG ("[pcl::PCDWriter::resetLockingPermissions] Permissions on %s could not be reset!\n", file_name.c_str ());
}
lock.unlock ();
#endif
#endif
}
///////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::readHeader (std::istream &fs, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &pcd_version, int &data_type, unsigned int &data_idx)
{
// Default values
data_idx = 0;
data_type = 0;
pcd_version = PCD_V6;
origin = Eigen::Vector4f::Zero ();
orientation = Eigen::Quaternionf::Identity ();
cloud.width = cloud.height = cloud.point_step = cloud.row_step = 0;
cloud.data.clear ();
// By default, assume that there are _no_ invalid (e.g., NaN) points
//cloud.is_dense = true;
// Used to determine if a value has been read
bool width_read = false;
bool height_read = false;
std::size_t nr_points = 0;
std::string line;
// field_sizes represents the size of one element in a field (e.g., float = 4, char = 1)
// field_counts represents the number of elements in a field (e.g., x = 1, normal_x = 1, fpfh = 33)
std::vector<int> field_sizes, field_counts;
// field_types represents the type of data in a field (e.g., F = float, U = unsigned)
std::vector<char> field_types;
std::vector<std::string> st;
// Read the header and fill it in with wonderful values
try
{
while (!fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line.empty())
continue;
// Tokenize the line
pcl::split (st, line, "\t\r ");
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
std::string line_type;
sstream >> line_type;
// Ignore comments
if (line_type.substr (0, 1) == "#")
continue;
// Version numbers are not needed for now, but we are checking to see if they're there
if (line_type.substr (0, 7) == "VERSION")
continue;
// Get the field indices (check for COLUMNS too for backwards compatibility)
if ( (line_type.substr (0, 6) == "FIELDS") || (line_type.substr (0, 7) == "COLUMNS") )
{
int specified_channel_count = static_cast<int> (st.size () - 1);
// Allocate enough memory to accommodate all fields
cloud.fields.resize (specified_channel_count);
for (int i = 0; i < specified_channel_count; ++i)
{
std::string col_type = st.at (i + 1);
cloud.fields[i].name = col_type;
}
// Default the sizes and the types of each field to float32 to avoid crashes while using older PCD files
int offset = 0;
for (int i = 0; i < specified_channel_count; ++i, offset += 4)
{
cloud.fields[i].offset = offset;
cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
cloud.fields[i].count = 1;
}
cloud.point_step = offset;
continue;
}
// Get the field sizes
if (line_type.substr (0, 4) == "SIZE")
{
int specified_channel_count = static_cast<int> (st.size () - 1);
// Allocate enough memory to accommodate all fields
if (specified_channel_count != static_cast<int> (cloud.fields.size ()))
throw "The number of elements in <SIZE> differs than the number of elements in <FIELDS>!";
// Resize to accommodate the number of values
field_sizes.resize (specified_channel_count);
int offset = 0;
for (int i = 0; i < specified_channel_count; ++i)
{
int col_type ;
sstream >> col_type;
cloud.fields[i].offset = offset; // estimate and save the data offsets
offset += col_type;
field_sizes[i] = col_type; // save a temporary copy
}
cloud.point_step = offset;
//if (cloud.width != 0)
//cloud.row_step = cloud.point_step * cloud.width;
continue;
}
// Get the field types
if (line_type.substr (0, 4) == "TYPE")
{
if (field_sizes.empty ())
throw "TYPE of FIELDS specified before SIZE in header!";
int specified_channel_count = static_cast<int> (st.size () - 1);
// Allocate enough memory to accommodate all fields
if (specified_channel_count != static_cast<int> (cloud.fields.size ()))
throw "The number of elements in <TYPE> differs than the number of elements in <FIELDS>!";
// Resize to accommodate the number of values
field_types.resize (specified_channel_count);
for (int i = 0; i < specified_channel_count; ++i)
{
field_types[i] = st.at (i + 1).c_str ()[0];
cloud.fields[i].datatype = static_cast<std::uint8_t> (getFieldType (field_sizes[i], field_types[i]));
}
continue;
}
// Get the field counts
if (line_type.substr (0, 5) == "COUNT")
{
if (field_sizes.empty () || field_types.empty ())
throw "COUNT of FIELDS specified before SIZE or TYPE in header!";
int specified_channel_count = static_cast<int> (st.size () - 1);
// Allocate enough memory to accommodate all fields
if (specified_channel_count != static_cast<int> (cloud.fields.size ()))
throw "The number of elements in <COUNT> differs than the number of elements in <FIELDS>!";
field_counts.resize (specified_channel_count);
int offset = 0;
for (int i = 0; i < specified_channel_count; ++i)
{
cloud.fields[i].offset = offset;
int col_count;
sstream >> col_count;
if (col_count < 1)
PCL_WARN("[pcl::PCDReader::readHeader] Invalid COUNT value specified (%i, should be larger than 0). This field will be removed.\n", col_count);
cloud.fields[i].count = col_count;
offset += col_count * field_sizes[i];
}
// Adjust the offset for count (number of elements)
cloud.point_step = offset;
continue;
}
// Get the width of the data (organized point cloud dataset)
if (line_type.substr (0, 5) == "WIDTH")
{
sstream >> cloud.width;
if (sstream.fail ())
throw "Invalid WIDTH value specified.";
width_read = true;
if (cloud.point_step != 0)
cloud.row_step = cloud.point_step * cloud.width; // row_step only makes sense for organized datasets
continue;
}
// Get the height of the data (organized point cloud dataset)
if (line_type.substr (0, 6) == "HEIGHT")
{
sstream >> cloud.height;
if (sstream.fail ())
throw "Invalid HEIGHT value specified.";
height_read = true;
continue;
}
// Get the acquisition viewpoint
if (line_type.substr (0, 9) == "VIEWPOINT")
{
pcd_version = PCD_V7;
if (st.size () < 8)
throw "Not enough number of elements in <VIEWPOINT>! Need 7 values (tx ty tz qw qx qy qz).";
float x, y, z, w;
sstream >> x >> y >> z ;
origin = Eigen::Vector4f (x, y, z, 0.0f);
sstream >> w >> x >> y >> z;
orientation = Eigen::Quaternionf (w, x, y, z);
continue;
}
// Get the number of points
if (line_type.substr (0, 6) == "POINTS")
{
if (!cloud.point_step)
throw "Number of POINTS specified before COUNT in header!";
sstream >> nr_points;
// Need to allocate: N * point_step
cloud.data.resize (nr_points * cloud.point_step);
continue;
}
// Read the header + comments line by line until we get to <DATA>
if (line_type.substr (0, 4) == "DATA")
{
if (st.at (1).substr (0, 17) == "binary_compressed")
data_type = 2;
else if (st.at (1).substr (0, 6) == "binary")
data_type = 1;
else if (st.at (1).substr (0, 5) == "ascii")
data_type = 0;
else {
PCL_WARN("[pcl::PCDReader::readHeader] Unknown DATA format: %s\n", line.c_str());
continue;
}
data_idx = static_cast<int> (fs.tellg ());
}
break; // DATA is the last header entry, everything after it will be interpreted as point cloud data
}
}
catch (const char *exception)
{
PCL_ERROR ("[pcl::PCDReader::readHeader] %s\n", exception);
return (-1);
}
cloud.fields.erase(std::remove_if(cloud.fields.begin(), cloud.fields.end(),
[](const pcl::PCLPointField& field)->bool { return field.count < 1; }),
cloud.fields.end());
if (nr_points == 0)
{
PCL_WARN("[pcl::PCDReader::readHeader] number of points is zero.\n");
}
// Compatibility with older PCD file versions
if (!width_read && !height_read)
{
cloud.width = nr_points;
cloud.height = 1;
cloud.row_step = cloud.point_step * cloud.width; // row_step only makes sense for organized datasets
}
//assert (cloud.row_step != 0); // If row_step = 0, either point_step was not set or width is 0
// if both height/width are not given, assume an unorganized dataset
if (!height_read)
{
cloud.height = 1;
PCL_WARN ("[pcl::PCDReader::readHeader] no HEIGHT given, setting to 1 (unorganized).\n");
if (cloud.width == 0)
cloud.width = nr_points;
}
else
{
if (cloud.width == 0 && nr_points != 0)
{
PCL_ERROR ("[pcl::PCDReader::readHeader] HEIGHT given (%d) but no WIDTH!\n", cloud.height);
return (-1);
}
}
if (cloud.width * cloud.height != nr_points)
{
PCL_ERROR ("[pcl::PCDReader::readHeader] HEIGHT (%d) x WIDTH (%d) != number of points (%d)\n", cloud.height, cloud.width, nr_points);
return (-1);
}
return (0);
}
///////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &pcd_version, int &data_type, unsigned int &data_idx, const int offset)
{
if (file_name.empty ())
{
PCL_ERROR ("[pcl::PCDReader::readHeader] No file name given!\n");
return (-1);
}
// Open file in binary mode to avoid problem of
// std::getline() corrupting the result of ifstream::tellg()
std::ifstream fs;
fs.open (file_name.c_str (), std::ios::binary);
if (!fs.good ())
{
PCL_ERROR ("[pcl::PCDReader::readHeader] Could not find file '%s'.\n", file_name.c_str ());
return (-1);
}
if (!fs.is_open () || fs.fail ())
{
PCL_ERROR ("[pcl::PCDReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror (errno));
fs.close ();
return (-1);
}
if (fs.peek() == std::ifstream::traits_type::eof())
{
PCL_ERROR ("[pcl::PCDReader::readHeader] File '%s' is empty.\n", file_name.c_str ());
fs.close ();
return (-1);
}
// Seek at the given offset
fs.seekg (offset, std::ios::beg);
// Delegate parsing to the istream overload.
int result = readHeader (fs, cloud, origin, orientation, pcd_version, data_type, data_idx);
// Close file
fs.close ();
return result;
}
///////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset)
{
Eigen::Vector4f origin = Eigen::Vector4f::Zero ();
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
int pcd_version = 0;
int data_type = 0;
unsigned int data_idx = 0;
return readHeader (file_name, cloud, origin, orientation, pcd_version, data_type, data_idx, offset);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::readBodyASCII (std::istream &fs, pcl::PCLPointCloud2 &cloud, int /*pcd_version*/)
{
// Get the number of points the cloud should have
unsigned int nr_points = cloud.width * cloud.height;
// The number of elements each line/point should have
const unsigned int elems_per_line = std::accumulate (cloud.fields.cbegin (), cloud.fields.cend (), 0u,
[](const auto& i, const auto& field){ return (i + field.count); });
PCL_DEBUG ("[pcl::PCDReader::readBodyASCII] Will check that each line in the PCD file has %u elements.\n", elems_per_line);
// Setting the is_dense property to true by default
cloud.is_dense = true;
unsigned int idx = 0;
std::string line;
std::vector<std::string> st;
std::istringstream is;
is.imbue (std::locale::classic ());
st.reserve(elems_per_line);
try
{
while (idx < nr_points && !fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line.empty())
continue;
// Tokenize the line
pcl::split(st, line, "\r\t ");
if (st.size () != elems_per_line) // If this is not checked, an exception might occur while accessing st
{
PCL_WARN ("[pcl::PCDReader::readBodyASCII] Possibly malformed PCD file: point number %u has %zu elements, but should have %u\n",
idx+1, st.size (), elems_per_line);
++idx; // Skip this line/point, but read all others
continue;
}
if (idx >= nr_points)
{
PCL_WARN ("[pcl::PCDReader::read] input has more points (%d) than advertised (%d)!\n", idx, nr_points);
break;
}
std::size_t total = 0;
// Copy data
for (unsigned int d = 0; d < static_cast<unsigned int> (cloud.fields.size ()); ++d)
{
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[d].name == "_")
{
total += cloud.fields[d].count; // jump over this many elements in the string token
continue;
}
for (uindex_t c = 0; c < cloud.fields[d].count; ++c)
{
#define COPY_STRING(CASE_LABEL) \
case CASE_LABEL: { \
copyStringValue<pcl::traits::asType_t<(CASE_LABEL)>>( \
st.at(total + c), cloud, idx, d, c, is); \
break; \
}
switch (cloud.fields[d].datatype)
{
COPY_STRING(pcl::PCLPointField::BOOL)
COPY_STRING(pcl::PCLPointField::INT8)
COPY_STRING(pcl::PCLPointField::UINT8)
COPY_STRING(pcl::PCLPointField::INT16)
COPY_STRING(pcl::PCLPointField::UINT16)
COPY_STRING(pcl::PCLPointField::INT32)
COPY_STRING(pcl::PCLPointField::UINT32)
COPY_STRING(pcl::PCLPointField::INT64)
COPY_STRING(pcl::PCLPointField::UINT64)
COPY_STRING(pcl::PCLPointField::FLOAT32)
COPY_STRING(pcl::PCLPointField::FLOAT64)
default:
PCL_WARN ("[pcl::PCDReader::read] Incorrect field data type specified (%d)!\n",cloud.fields[d].datatype);
break;
}
#undef COPY_STRING
}
total += cloud.fields[d].count; // jump over this many elements in the string token
}
idx++;
}
}
catch (const char *exception)
{
PCL_ERROR ("[pcl::PCDReader::read] %s\n", exception);
return (-1);
}
if (idx != nr_points)
{
PCL_ERROR ("[pcl::PCDReader::read] Number of points read (%d) is different than expected (%d)\n", idx, nr_points);
return (-1);
}
return (0);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::readBodyBinary (const unsigned char *map, pcl::PCLPointCloud2 &cloud,
int /*pcd_version*/, bool compressed, unsigned int data_idx)
{
// Setting the is_dense property to true by default
cloud.is_dense = true;
/// ---[ Binary compressed mode only
if (compressed)
{
// Uncompress the data first
unsigned int compressed_size = 0, uncompressed_size = 0;
memcpy (&compressed_size, &map[data_idx + 0], 4);
memcpy (&uncompressed_size, &map[data_idx + 4], 4);
PCL_DEBUG ("[pcl::PCDReader::read] Read a binary compressed file with %u bytes compressed and %u original.\n", compressed_size, uncompressed_size);
if (uncompressed_size != cloud.data.size ())
{
PCL_WARN ("[pcl::PCDReader::read] The estimated cloud.data size (%u) is different than the saved uncompressed value (%u)! Data corruption?\n",
cloud.data.size (), uncompressed_size);
cloud.data.resize (uncompressed_size);
}
auto data_size = static_cast<unsigned int> (cloud.data.size ());
if (data_size == 0)
{
PCL_WARN("[pcl::PCDReader::read] Binary compressed file has data size of zero.\n");
return 0;
}
std::vector<char> buf (data_size);
// The size of the uncompressed data better be the same as what we stored in the header
unsigned int tmp_size = pcl::lzfDecompress (&map[data_idx + 8], compressed_size, buf.data(), data_size);
if (tmp_size != uncompressed_size)
{
PCL_ERROR ("[pcl::PCDReader::read] Size of decompressed lzf data (%u) does not match value stored in PCD header (%u). Errno: %d\n", tmp_size, uncompressed_size, errno);
return (-1);
}
// Get the fields sizes
std::vector<pcl::PCLPointField> fields (cloud.fields.size ());
std::vector<int> fields_sizes (cloud.fields.size ());
int nri = 0, fsize = 0;
for (const auto &field : cloud.fields)
{
if (field.name == "_")
continue;
fields_sizes[nri] = field.count * pcl::getFieldSize (field.datatype);
fsize += fields_sizes[nri];
fields[nri] = field;
++nri;
}
fields.resize (nri);
fields_sizes.resize (nri);
// Unpack the xxyyzz to xyz
std::vector<char*> pters (fields.size ());
std::size_t toff = 0;
for (std::size_t i = 0; i < pters.size (); ++i)
{
pters[i] = &buf[toff];
toff += fields_sizes[i] * cloud.width * cloud.height;
}
// Copy it to the cloud
for (uindex_t i = 0; i < cloud.width * cloud.height; ++i)
{
for (std::size_t j = 0; j < pters.size (); ++j)
{
memcpy (&cloud.data[i * fsize + fields[j].offset], pters[j], fields_sizes[j]);
// Increment the pointer
pters[j] += fields_sizes[j];
}
}
//memcpy (&cloud.data[0], &buf[0], uncompressed_size);
}
else
// Copy the data
memcpy ((cloud.data).data(), &map[0] + data_idx, cloud.data.size ());
// Extra checks (not needed for ASCII)
int point_size = (cloud.width * cloud.height == 0) ? 0 : static_cast<int> (cloud.data.size () / (cloud.height * cloud.width));
// Once copied, we need to go over each field and check if it has NaN/Inf values and assign cloud.is_dense to true or false
for (uindex_t i = 0; i < cloud.width * cloud.height; ++i)
{
for (unsigned int d = 0; d < static_cast<unsigned int> (cloud.fields.size ()); ++d)
{
for (uindex_t c = 0; c < cloud.fields[d].count; ++c)
{
#define SET_CLOUD_DENSE(CASE_LABEL) \
case CASE_LABEL: { \
if (!isValueFinite<pcl::traits::asType_t<(CASE_LABEL)>>(cloud, i, point_size, d, c)) \
cloud.is_dense = false; \
break; \
}
switch (cloud.fields[d].datatype)
{
SET_CLOUD_DENSE(pcl::PCLPointField::BOOL)
SET_CLOUD_DENSE(pcl::PCLPointField::INT8)
SET_CLOUD_DENSE(pcl::PCLPointField::UINT8)
SET_CLOUD_DENSE(pcl::PCLPointField::INT16)
SET_CLOUD_DENSE(pcl::PCLPointField::UINT16)
SET_CLOUD_DENSE(pcl::PCLPointField::INT32)
SET_CLOUD_DENSE(pcl::PCLPointField::UINT32)
SET_CLOUD_DENSE(pcl::PCLPointField::INT64)
SET_CLOUD_DENSE(pcl::PCLPointField::UINT64)
SET_CLOUD_DENSE(pcl::PCLPointField::FLOAT32)
SET_CLOUD_DENSE(pcl::PCLPointField::FLOAT64)
}
#undef SET_CLOUD_DENSE
}
}
}
return (0);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int &pcd_version,
const int offset)
{
pcl::console::TicToc tt;
tt.tic ();
if (file_name.empty ())
{
PCL_ERROR ("[pcl::PCDReader::read] No file name given!\n");
return (-1);
}
if (!pcl_fs::exists (file_name))
{
PCL_ERROR ("[pcl::PCDReader::read] Could not find file '%s'.\n", file_name.c_str ());
return (-1);
}
int data_type;
unsigned int data_idx;
int res = readHeader (file_name, cloud, origin, orientation, pcd_version, data_type, data_idx, offset);
if (res < 0)
return (res);
// if ascii
if (data_type == 0)
{
// Re-open the file (readHeader closes it)
std::ifstream fs;
fs.open (file_name.c_str ());
if (!fs.is_open () || fs.fail ())
{
PCL_ERROR ("[pcl::PCDReader::read] Could not open file %s.\n", file_name.c_str ());
return (-1);
}
fs.seekg (data_idx + offset);
// Read the rest of the file
res = readBodyASCII (fs, cloud, pcd_version);
// Close file
fs.close ();
}
else
/// ---[ Binary mode only
/// We must re-open the file and read with mmap () for binary
{
// Open for reading
int fd = io::raw_open (file_name.c_str (), O_RDONLY);
if (fd == -1)
{
PCL_ERROR ("[pcl::PCDReader::read] Failure to open file %s\n", file_name.c_str () );
return (-1);
}
// Infer file size
const std::size_t file_size = io::raw_lseek (fd, 0, SEEK_END);
io::raw_lseek (fd, 0, SEEK_SET);
std::size_t mmap_size = offset + data_idx; // ...because we mmap from the start of the file.
if (data_type == 2)
{
// Seek to real start of data.
long result = io::raw_lseek (fd, offset + data_idx, SEEK_SET);
if (result < 0)
{
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] lseek errno: %d strerror: %s\n", errno, strerror (errno));
PCL_ERROR ("[pcl::PCDReader::read] Error during lseek ()!\n");
return (-1);
}
// Read compressed size to compute how much must be mapped
unsigned int compressed_size = 0;
ssize_t num_read = io::raw_read (fd, &compressed_size, 4);
if (num_read < 0)
{
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] read errno: %d strerror: %s\n", errno, strerror (errno));
PCL_ERROR ("[pcl::PCDReader::read] Error during read()!\n");
return (-1);
}
mmap_size += compressed_size;
// Add the 8 bytes used to store the compressed and uncompressed size
mmap_size += 8;
// Reset position
io::raw_lseek (fd, 0, SEEK_SET);
}
else
{
mmap_size += cloud.data.size ();
}
if (mmap_size > file_size)
{
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] Corrupted PCD file. The file is smaller than expected!\n");
return (-1);
}
// Prepare the map
#ifdef _WIN32
// As we don't know the real size of data (compressed or not),
// we set dwMaximumSizeHigh = dwMaximumSizeLow = 0 so as to map the whole file
HANDLE fm = CreateFileMapping ((HANDLE) _get_osfhandle (fd), NULL, PAGE_READONLY, 0, 0, NULL);
// As we don't know the real size of data (compressed or not),
// we set dwNumberOfBytesToMap = 0 so as to map the whole file
unsigned char *map = static_cast<unsigned char*> (MapViewOfFile (fm, FILE_MAP_READ, 0, 0, 0));
if (map == NULL)
{
CloseHandle (fm);
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] Error mapping view of file, %s\n", file_name.c_str ());
return (-1);
}
#else
auto *map = static_cast<unsigned char*> (::mmap (nullptr, mmap_size, PROT_READ, MAP_SHARED, fd, 0));
if (map == reinterpret_cast<unsigned char*> (-1)) // MAP_FAILED
{
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] Error preparing mmap for binary PCD file.\n");
return (-1);
}
#endif
res = readBodyBinary (map, cloud, pcd_version, data_type == 2, offset + data_idx);
// Unmap the pages of memory
#ifdef _WIN32
UnmapViewOfFile (map);
CloseHandle (fm);
#else
if (::munmap (map, mmap_size) == -1)
{
io::raw_close (fd);
PCL_ERROR ("[pcl::PCDReader::read] Munmap failure\n");
return (-1);
}
#endif
io::raw_close (fd);
}
double total_time = tt.toc ();
PCL_DEBUG ("[pcl::PCDReader::read] Loaded %s as a %s cloud in %g ms with %d points. Available dimensions: %s.\n",
file_name.c_str (), cloud.is_dense ? "dense" : "non-dense", total_time,
cloud.width * cloud.height, pcl::getFieldsList (cloud).c_str ());
return res;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PCDReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset)
{
int pcd_version;
Eigen::Vector4f origin;
Eigen::Quaternionf orientation;
// Load the data
int res = read (file_name, cloud, origin, orientation, pcd_version, offset);
if (res < 0)
return (res);
return (0);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::string
pcl::PCDWriter::generateHeaderASCII (const pcl::PCLPointCloud2 &cloud,
const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
{
std::ostringstream oss;
oss.imbue (std::locale::classic ());
oss << "# .PCD v0.7 - Point Cloud Data file format"
"\nVERSION 0.7"
"\nFIELDS ";
std::ostringstream stream;
stream.imbue (std::locale::classic ());
std::string result;
for (std::size_t d = 0; d < cloud.fields.size () - 1; ++d)
{
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[d].name != "_")
result += cloud.fields[d].name + " ";
}
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[cloud.fields.size () - 1].name != "_")
result += cloud.fields[cloud.fields.size () - 1].name;
// Remove trailing spaces
boost::trim (result);
oss << result << "\nSIZE ";
stream.str ("");
// Write the SIZE of each field
for (std::size_t d = 0; d < cloud.fields.size () - 1; ++d)
{
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[d].name != "_")
stream << pcl::getFieldSize (cloud.fields[d].datatype) << " ";
}
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[cloud.fields.size () - 1].name != "_")
stream << pcl::getFieldSize (cloud.fields[cloud.fields.size () - 1].datatype);
// Remove trailing spaces
result = stream.str ();
boost::trim (result);
oss << result << "\nTYPE ";
stream.str ("");
// Write the TYPE of each field
for (std::size_t d = 0; d < cloud.fields.size () - 1; ++d)
{
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[d].name != "_")
{
if (cloud.fields[d].name == "rgb")
stream << "U ";
else
stream << pcl::getFieldType (cloud.fields[d].datatype) << " ";
}
}
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[cloud.fields.size () - 1].name != "_")
{
if (cloud.fields[cloud.fields.size () - 1].name == "rgb")
stream << "U";
else
stream << pcl::getFieldType (cloud.fields[cloud.fields.size () - 1].datatype);
}
// Remove trailing spaces
result = stream.str ();
boost::trim (result);
oss << result << "\nCOUNT ";
stream.str ("");
// Write the TYPE of each field
for (std::size_t d = 0; d < cloud.fields.size () - 1; ++d)
{
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[d].name == "_")
continue;
int count = std::abs (static_cast<int> (cloud.fields[d].count));
if (count == 0)
count = 1; // we simply cannot tolerate 0 counts (coming from older converter code)
stream << count << " ";
}
// Ignore invalid padded dimensions that are inherited from binary data
if (cloud.fields[cloud.fields.size () - 1].name != "_")
{
int count = std::abs (static_cast<int> (cloud.fields[cloud.fields.size () - 1].count));
if (count == 0)
count = 1;
stream << count;
}
// Remove trailing spaces
result = stream.str ();
boost::trim (result);
oss << result << "\nWIDTH " << cloud.width << "\nHEIGHT " << cloud.height << "\n";
oss << "VIEWPOINT " << origin[0] << " " << origin[1] << " " << origin[2] << " " << orientation.w () << " " <<
orientation.x () << " " << orientation.y () << " " << orientation.z () << "\n";
oss << "POINTS " << cloud.width * cloud.height << "\n";
return (oss.str ());
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::string
pcl::PCDWriter::generateHeaderBinary (const pcl::PCLPointCloud2 &cloud,
const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation)
{
std::ostringstream oss;
oss.imbue (std::locale::classic ());
oss << "# .PCD v0.7 - Point Cloud Data file format"
"\nVERSION 0.7"
"\nFIELDS";
auto fields = cloud.fields;
std::sort(fields.begin(), fields.end(), [](const auto& field_a, const auto& field_b)
{
return field_a.offset < field_b.offset;
});
// Compute the total size of the fields
unsigned int fsize = 0;
for (const auto &field : fields)
fsize += field.count * getFieldSize (field.datatype);
// The size of the fields cannot be larger than point_step
if (fsize > cloud.point_step)
{
PCL_ERROR ("[pcl::PCDWriter::generateHeaderBinary] The size of the fields (%d) is larger than point_step (%d)! Something is wrong here...\n", fsize, cloud.point_step);
return ("");
}
std::stringstream field_names, field_types, field_sizes, field_counts;
// Check if the size of the fields is smaller than the size of the point step
std::size_t toffset = 0;
for (std::size_t i = 0; i < fields.size (); ++i)
{
// If field offsets do not match, then we need to create fake fields
if (toffset != fields[i].offset)
{
// If we're at the last "valid" field
int fake_offset = (i == 0) ?
// Use the current_field offset
(fields[i].offset)
:
// Else, do cur_field.offset - prev_field.offset + sizeof (prev_field)
(fields[i].offset -