Add: support IFS file format

io/CMakeLists.txt

@@ -129,6 +129,7 @@ if(build)
         src/lzf.cpp
         src/lzf_image_io.cpp
         src/obj_io.cpp
+        src/ifs_io.cpp
         src/image_grabber.cpp
         src/hdl_grabber.cpp
         src/robot_eye_grabber.cpp
@@ -168,6 +169,7 @@ if(build)
         include/pcl/${SUBSYS_NAME}/tar.h
         include/pcl/${SUBSYS_NAME}/obj_io.h
         include/pcl/${SUBSYS_NAME}/ascii_io.h
+        include/pcl/${SUBSYS_NAME}/ifs_io.h
         include/pcl/${SUBSYS_NAME}/image_grabber.h 
         include/pcl/${SUBSYS_NAME}/hdl_grabber.h
         include/pcl/${SUBSYS_NAME}/robot_eye_grabber.h

io/include/pcl/io/boost.h

@@ -71,6 +71,7 @@
 #if BOOST_VERSION >= 104900
 #include <boost/interprocess/permissions.hpp>
 #endif
+#include <boost/iostreams/device/mapped_file.hpp>
 #define BOOST_PARAMETER_MAX_ARITY 7
 #include <boost/signals2.hpp>
 #include <boost/signals2/slot.hpp>

io/include/pcl/io/ifs_io.h

@@ -0,0 +1,226 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2013, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_IO_IFS_IO_H_
+#define PCL_IO_IFS_IO_H_
+
+#include <pcl/point_cloud.h>
+#include <pcl/PCLPointCloud2.h>
+#include <pcl/conversions.h>
+#include <pcl/io/boost.h>
+
+namespace pcl
+{
+  /** \brief Indexed Face set (IFS) file format reader. This file format is used for
+    * the Brown Mesh Set for instance.
+    * \author Nizar Sallem
+    * \ingroup io
+    */
+  class PCL_EXPORTS IFSReader
+  {
+    public:
+      /** Empty constructor */
+      IFSReader () {}
+      /** Empty destructor */
+      ~IFSReader () {}
+
+      /** \brief we support two versions
+        * 1.0 classic
+        * 1.1 with texture coordinates addon
+        */
+      enum
+      {
+        IFS_V1_0 = 0,
+        IFS_V1_1 = 1
+      };
+
+      /** \brief Read a point cloud data header from a IFS file.
+        *
+        * Load only the meta information (number of points, their types, etc),
+        * and not the points themselves, from a given IFS file. Useful for fast
+        * evaluation of the underlying data structure.
+        *
+        * \param[in] file_name the name of the file to load
+        * \param[out] cloud the resultant point cloud dataset (only header will be filled)
+        * \param[out] ifs_version the IFS version of the file (IFS_V1_0 or IFS_V1_1)
+        * \param[out] data_idx the offset of cloud data within the file
+        *
+        * \return
+        *  * < 0 (-1) on error
+        *  * == 0 on success
+        */
+      int
+      readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+                  int &ifs_version, unsigned int &data_idx);
+
+      /** \brief Read a point cloud data from a IFS file and store it into a pcl/PCLPointCloud2.
+        * \param[in] file_name the name of the file containing the actual PointCloud data
+        * \param[out] cloud the resultant PointCloud message read from disk
+        * \param[out] ifs_version the IFS version of the file (either IFS_V6 or IFS_V7)
+        *
+        * \return
+        *  * < 0 (-1) on error
+        *  * == 0 on success
+        */
+      int
+      read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, int &ifs_version);
+
+      /** \brief Read a point cloud data from any IFS file, and convert it to the
+        * given template format.
+        * \param[in] file_name the name of the file containing the actual PointCloud data
+        * \param[out] cloud the resultant PointCloud message read from disk
+        *
+        * \return
+        *  * < 0 (-1) on error
+        *  * == 0 on success
+        */
+      template<typename PointT> int
+      read (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
+      {
+        pcl::PCLPointCloud2 blob;
+        int ifs_version;
+        cloud.sensor_origin_ = Eigen::Vector4f::Zero ();
+        cloud.sensor_orientation_ = Eigen::Quaternionf::Identity ();
+        int res = read (file_name, blob, ifs_version);
+
+        // If no error, convert the data
+        if (res == 0)
+          pcl::fromPCLPointCloud2 (blob, cloud);
+        return (res);
+      }
+  };
+
+  /** \brief Point Cloud Data (IFS) file format writer.
+    * \author Nizar Sallem
+    * \ingroup io
+    */
+  class PCL_EXPORTS IFSWriter
+  {
+    public:
+      IFSWriter() {}
+      ~IFSWriter() {}
+
+      /** \brief Save point cloud data to a IFS file containing n-D points
+        * \param[in] file_name the output file name
+        * \param[in] cloud the point cloud data message
+        * \param[in] cloud_name the point cloud name to be stored insude the IFS file.
+        * \return
+        * * 0 on success
+        * * < 0 on error
+        */
+      int
+      write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
+             const std::string &cloud_name = "cloud");
+
+      /** \brief Save point cloud data to a IFS file containing n-D points
+        * \param[in] file_name the output file name
+        * \param[in] cloud the point cloud
+        * \param[in] cloud_name the point cloud name to be stored insude the IFS file.
+        * \return
+        * * 0 on success
+        * * < 0 on error
+        */
+      template<typename PointT> int
+      write (const std::string &file_name, const pcl::PointCloud<PointT> &cloud,
+             const std::string &cloud_name = "cloud")
+      {
+        pcl::PCLPointCloud2 blob;
+        pcl::fromPCLPointCloud2<PointT> (blob, cloud);
+        return (write (file_name, blob, cloud_name));
+      }
+  };
+
+  namespace io
+  {
+    /** \brief Load a IFS v.6 file into a templated PointCloud type.
+      *
+      * Any IFS files > v.6 will generate a warning as a
+      * pcl/PCLPointCloud2 message cannot hold the sensor origin.
+      *
+      * \param[in] file_name the name of the file to load
+      * \param[out] cloud the resultant templated point cloud
+      * \ingroup io
+      */
+    inline int
+    loadIFSFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
+    {
+      pcl::IFSReader p;
+      int ifs_version;
+      return (p.read (file_name, cloud, ifs_version));
+    }
+
+    /** \brief Load any IFS file into a templated PointCloud type
+      * \param[in] file_name the name of the file to load
+      * \param[out] cloud the resultant templated point cloud
+      * \ingroup io
+      */
+    template<typename PointT> inline int
+    loadIFSFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
+    {
+      pcl::IFSReader p;
+      return (p.read<PointT> (file_name, cloud));
+    }
+
+    /** \brief Save point cloud data to a IFS file containing n-D points
+      * \param[in] file_name the output file name
+      * \param[in] cloud the point cloud data message
+      *
+      * \ingroup io
+      */
+    inline int
+    saveIFSFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud)
+    {
+      pcl::IFSWriter w;
+      return (w.write (file_name, cloud));
+    }
+
+    /** \brief Save point cloud data to a IFS file containing n-D points
+      * \param[in] file_name the output file name
+      * \param[in] cloud the point cloud
+      *
+      * \ingroup io
+      */
+    template<typename PointT> int
+    saveIFSFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
+    {
+      pcl::IFSWriter w;
+      return (w.write<PointT> (file_name, cloud));
+    }
+  }
+}
+
+#endif  //#ifndef PCL_IO_IFS_IO_H_