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Improved obj file parsing efficiency. Make parsing robust against situations where there are more normals than points. Added unit tests. #2450

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merged 7 commits into from
Sep 21, 2018
Merged

Improved obj file parsing efficiency. Make parsing robust against situations where there are more normals than points. Added unit tests. #2450

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e3a7ada
Improved efficiency when reading obj files
pherbers Sep 19, 2018
6723543
Fixed a crash when importing obj files
pherbers Sep 19, 2018
3d34bad
Added a warning if an obj file has too many vertex normals
pherbers Sep 19, 2018
6373d17
Added a test for OBJReader
pherbers Sep 19, 2018
1f0de73
Replaced string operations with array operations in obj parsing
pherbers Sep 20, 2018
e7fbf98
Removed unnessecary string operations in obj parsing
pherbers Sep 20, 2018
4375491
Added some cleanup code for io tests
pherbers Sep 20, 2018
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48 changes: 28 additions & 20 deletions io/src/obj_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -374,7 +374,6 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
// bool material_found = false;
std::vector<std::string> material_files;
std::size_t nr_point = 0;
std::vector<std::string> st;

try
{
Expand All @@ -390,35 +389,40 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
sstream.imbue (std::locale::classic ());
line = sstream.str ();
boost::trim (line);
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boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);

// Ignore comments
if (st.at (0) == "#")
if (line.at (0) == '#')
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continue;

// Vertex
if (st.at (0) == "v")
// Vertex, vertex texture or vertex normal
if (line.at (0) == 'v')
{
++nr_point;
continue;
}
// Vertex (v)
if ((line.at(1) == ' ')) {
++nr_point;
continue;
}

// Vertex texture
if ((st.at (0) == "vt") && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}
// Vertex texture (vt)
else if ((line.at(1) == 't') && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}

// Vertex normal
if ((st.at (0) == "vn") && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
// Vertex normal (vn)
else if ((line.at(1) == 'n') && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
}
}

// Material library, skip for now!
if (st.at (0) == "mtllib")
if (line.substr (0, 6) == "mtllib")
{
std::vector<std::string> st;
boost::split(st, line, boost::is_any_of("\t\r "), boost::token_compress_on);
material_files.push_back (st.at (1));
continue;
}
Expand Down Expand Up @@ -588,6 +592,10 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
// Vertex normal
if (st[0] == "vn")
{
if (normal_idx >= cloud.width)
{
continue;
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You should print a PCL_WARNING the first time you encounter a normal from a non existing point so that the user knows there are is an unexpected problem, but it's being gracefully handled.

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Done in 3d34bad.

}
try
{
for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
Expand Down