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PointsAlgos.cpp
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PointsAlgos.cpp
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/***************************************************************************
* Copyright (c) 2011 Jürgen Riegel <juergen.riegel@web.de> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# ifdef FC_OS_LINUX
# include <unistd.h>
# endif
# include <memory>
# include <sstream>
# include <boost/lexical_cast.hpp>
# include <boost/regex.hpp>
# include <boost/algorithm/string.hpp>
# include <boost/math/special_functions/fpclassify.hpp> // needed for compilation on some systems
#endif
#include <Base/Console.h>
#include <Base/Converter.h>
#include <Base/Exception.h>
#include <Base/FileInfo.h>
#include <Base/Sequencer.h>
#include <Base/Stream.h>
#include "PointsAlgos.h"
#include <E57Format.h>
using namespace Points;
void PointsAlgos::Load(PointKernel &points, const char *FileName)
{
Base::FileInfo File(FileName);
// checking on the file
if (!File.isReadable())
throw Base::FileException("File to load not existing or not readable", FileName);
if (File.hasExtension("asc"))
LoadAscii(points,FileName);
else
throw Base::RuntimeError("Unknown ending");
}
void PointsAlgos::LoadAscii(PointKernel &points, const char *FileName)
{
boost::regex rx("^\\s*([-+]?[0-9]*)\\.?([0-9]+([eE][-+]?[0-9]+)?)"
"\\s+([-+]?[0-9]*)\\.?([0-9]+([eE][-+]?[0-9]+)?)"
"\\s+([-+]?[0-9]*)\\.?([0-9]+([eE][-+]?[0-9]+)?)\\s*$");
//boost::regex rx("(\\b[0-9]+\\.([0-9]+\\b)?|\\.[0-9]+\\b)");
//boost::regex rx("^\\s*(-?[0-9]*)\\.([0-9]+)\\s+(-?[0-9]*)\\.([0-9]+)\\s+(-?[0-9]*)\\.([0-9]+)\\s*$");
boost::cmatch what;
Base::Vector3d pt;
int LineCnt=0;
std::string line;
Base::FileInfo fi(FileName);
Base::ifstream tmp_str(fi, std::ios::in);
// estimating size
while (std::getline(tmp_str,line))
LineCnt++;
// resize the PointKernel
points.resize(LineCnt);
Base::SequencerLauncher seq( "Loading points...", LineCnt );
// again to the beginning
Base::ifstream file(fi, std::ios::in);
LineCnt = 0;
try {
// read file
while (std::getline(file, line)) {
if (boost::regex_match(line.c_str(), what, rx)) {
pt.x = std::atof(what[1].first);
pt.y = std::atof(what[4].first);
pt.z = std::atof(what[7].first);
points.setPoint(LineCnt,pt);
seq.next();
LineCnt++;
}
}
}
catch (...) {
points.clear();
throw Base::BadFormatError("Reading in points failed.");
}
// now remove the last points from the kernel
// Note: first we allocate memory corresponding to the number of lines (points and comments)
// and read in the file twice. But then the size of the kernel is too high
if (LineCnt < (int)points.size())
points.erase(LineCnt, points.size());
}
// ----------------------------------------------------------------------------
Reader::Reader()
{
width = 0;
height = 0;
}
Reader::~Reader()
{
}
void Reader::clear()
{
intensity.clear();
colors.clear();
normals.clear();
}
const PointKernel& Reader::getPoints() const
{
return points;
}
bool Reader::hasProperties() const
{
return (hasIntensities() || hasColors() || hasNormals());
}
const std::vector<float>& Reader::getIntensities() const
{
return intensity;
}
bool Reader::hasIntensities() const
{
return (!intensity.empty());
}
const std::vector<App::Color>& Reader::getColors() const
{
return colors;
}
bool Reader::hasColors() const
{
return (!colors.empty());
}
const std::vector<Base::Vector3f>& Reader::getNormals() const
{
return normals;
}
bool Reader::hasNormals() const
{
return (!normals.empty());
}
bool Reader::isStructured() const
{
return (width > 1 && height > 1);
}
int Reader::getWidth() const
{
return width;
}
int Reader::getHeight() const
{
return height;
}
// ----------------------------------------------------------------------------
AscReader::AscReader()
{
}
AscReader::~AscReader()
{
}
void AscReader::read(const std::string& filename)
{
points.load(filename.c_str());
}
// ----------------------------------------------------------------------------
namespace Points {
class Converter {
public:
Converter() = default;
virtual ~Converter() = default;
virtual std::string toString(double) const = 0;
virtual double toDouble(Base::InputStream&) const = 0;
virtual int getSizeOf() const = 0;
private:
Converter(const Converter&) = delete;
Converter(Converter&&) = delete;
Converter& operator= (const Converter&) = delete;
Converter& operator= (Converter&&) = delete;
};
template <typename T>
class ConverterT : public Converter {
public:
std::string toString(double f) const override {
T c = static_cast<T>(f);
std::ostringstream oss;
oss.precision(7);
oss.setf(std::ostringstream::showpoint);
oss << c;
return oss.str();
}
double toDouble(Base::InputStream& str) const override {
T c;
str >> c;
return static_cast<double>(c);
}
int getSizeOf() const override {
return sizeof(T);
}
};
using ConverterPtr = std::shared_ptr<Converter>;
class DataStreambuf : public std::streambuf
{
public:
explicit DataStreambuf(const std::vector<char>& data) : _buffer(data) {
_beg = 0;
_end = data.size();
_cur = 0;
}
~DataStreambuf() override {
}
protected:
int_type uflow() override {
if (_cur == _end)
return traits_type::eof();
return static_cast<DataStreambuf::int_type>(_buffer[_cur++]) & 0x000000ff;
}
int_type underflow() override {
if (_cur == _end)
return traits_type::eof();
return static_cast<DataStreambuf::int_type>(_buffer[_cur]) & 0x000000ff;
}
int_type pbackfail(int_type ch) override {
if (_cur == _beg || (ch != traits_type::eof() && ch != _buffer[_cur-1]))
return traits_type::eof();
return static_cast<DataStreambuf::int_type>(_buffer[--_cur]) & 0x000000ff;
}
std::streamsize showmanyc() override {
return _end - _cur;
}
pos_type seekoff(std::streambuf::off_type off,
std::ios_base::seekdir way,
std::ios_base::openmode =
std::ios::in | std::ios::out) override {
int p_pos=-1;
if (way == std::ios_base::beg)
p_pos = _beg;
else if (way == std::ios_base::end)
p_pos = _end;
else if (way == std::ios_base::cur)
p_pos = _cur;
if (p_pos > _end)
return traits_type::eof();
if (((p_pos + off) > _end) || ((p_pos + off) < _beg))
return traits_type::eof();
_cur = p_pos+ off;
return ((p_pos+off) - _beg);
}
pos_type seekpos(std::streambuf::pos_type pos,
std::ios_base::openmode which =
std::ios::in | std::ios::out) override {
(void)which;
return seekoff(pos, std::ios_base::beg);
}
private:
DataStreambuf(const DataStreambuf&) = delete;
DataStreambuf(DataStreambuf&&) = delete;
DataStreambuf& operator=(const DataStreambuf&) = delete;
DataStreambuf& operator=(DataStreambuf&&) = delete;
private:
const std::vector<char>& _buffer;
int _beg, _end, _cur;
};
//Taken from https://github.com/PointCloudLibrary/pcl/blob/master/io/src/lzf.cpp
unsigned int
lzfDecompress (const void *const in_data, unsigned int in_len,
void *out_data, unsigned int out_len)
{
unsigned char const *ip = static_cast<const unsigned char *> (in_data);
unsigned char *op = static_cast<unsigned char *> (out_data);
unsigned char const *const in_end = ip + in_len;
unsigned char *const out_end = op + out_len;
do
{
unsigned int ctrl = *ip++;
// Literal run
if (ctrl < (1 << 5))
{
ctrl++;
if (op + ctrl > out_end)
{
errno = E2BIG;
return (0);
}
// Check for overflow
if (ip + ctrl > in_end)
{
errno = EINVAL;
return (0);
}
switch (ctrl)
{
case 32: *op++ = *ip++;
/* FALLTHRU */
case 31: *op++ = *ip++;
/* FALLTHRU */
case 30: *op++ = *ip++;
/* FALLTHRU */
case 29: *op++ = *ip++;
/* FALLTHRU */
case 28: *op++ = *ip++;
/* FALLTHRU */
case 27: *op++ = *ip++;
/* FALLTHRU */
case 26: *op++ = *ip++;
/* FALLTHRU */
case 25: *op++ = *ip++;
/* FALLTHRU */
case 24: *op++ = *ip++;
/* FALLTHRU */
case 23: *op++ = *ip++;
/* FALLTHRU */
case 22: *op++ = *ip++;
/* FALLTHRU */
case 21: *op++ = *ip++;
/* FALLTHRU */
case 20: *op++ = *ip++;
/* FALLTHRU */
case 19: *op++ = *ip++;
/* FALLTHRU */
case 18: *op++ = *ip++;
/* FALLTHRU */
case 17: *op++ = *ip++;
/* FALLTHRU */
case 16: *op++ = *ip++;
/* FALLTHRU */
case 15: *op++ = *ip++;
/* FALLTHRU */
case 14: *op++ = *ip++;
/* FALLTHRU */
case 13: *op++ = *ip++;
/* FALLTHRU */
case 12: *op++ = *ip++;
/* FALLTHRU */
case 11: *op++ = *ip++;
/* FALLTHRU */
case 10: *op++ = *ip++;
/* FALLTHRU */
case 9: *op++ = *ip++;
/* FALLTHRU */
case 8: *op++ = *ip++;
/* FALLTHRU */
case 7: *op++ = *ip++;
/* FALLTHRU */
case 6: *op++ = *ip++;
/* FALLTHRU */
case 5: *op++ = *ip++;
/* FALLTHRU */
case 4: *op++ = *ip++;
/* FALLTHRU */
case 3: *op++ = *ip++;
/* FALLTHRU */
case 2: *op++ = *ip++;
/* FALLTHRU */
case 1: *op++ = *ip++;
}
}
// Back reference
else
{
unsigned int len = ctrl >> 5;
unsigned char *ref = op - ((ctrl & 0x1f) << 8) - 1;
// Check for overflow
if (ip >= in_end)
{
errno = EINVAL;
return (0);
}
if (len == 7)
{
len += *ip++;
// Check for overflow
if (ip >= in_end)
{
errno = EINVAL;
return (0);
}
}
ref -= *ip++;
if (op + len + 2 > out_end)
{
errno = E2BIG;
return (0);
}
if (ref < static_cast<unsigned char *> (out_data))
{
errno = EINVAL;
return (0);
}
switch (len)
{
default:
{
len += 2;
if (op >= ref + len)
{
// Disjunct areas
memcpy (op, ref, len);
op += len;
}
else
{
// Overlapping, use byte by byte copying
do
*op++ = *ref++;
while (--len);
}
break;
}
case 9: *op++ = *ref++;
/* FALLTHRU */
case 8: *op++ = *ref++;
/* FALLTHRU */
case 7: *op++ = *ref++;
/* FALLTHRU */
case 6: *op++ = *ref++;
/* FALLTHRU */
case 5: *op++ = *ref++;
/* FALLTHRU */
case 4: *op++ = *ref++;
/* FALLTHRU */
case 3: *op++ = *ref++;
/* FALLTHRU */
case 2: *op++ = *ref++;
/* FALLTHRU */
case 1: *op++ = *ref++;
/* FALLTHRU */
case 0: *op++ = *ref++; // two octets more
*op++ = *ref++;
}
}
}
while (ip < in_end);
return (static_cast<unsigned int> (op - static_cast<unsigned char*> (out_data)));
}
}
PlyReader::PlyReader()
{
}
PlyReader::~PlyReader()
{
}
void PlyReader::read(const std::string& filename)
{
clear();
this->width = 1;
this->height = 0;
Base::FileInfo fi(filename);
Base::ifstream inp(fi, std::ios::in | std::ios::binary);
std::string format;
std::vector<std::string> fields;
std::vector<std::string> types;
std::vector<int> sizes;
std::size_t offset = 0;
std::size_t numPoints = readHeader(inp, format, offset, fields, types, sizes);
Eigen::MatrixXd data(numPoints, fields.size());
if (format == "ascii") {
readAscii(inp, offset, data);
}
else if (format == "binary_little_endian") {
readBinary(false, inp, offset, types, sizes, data);
}
else if (format == "binary_big_endian") {
readBinary(true, inp, offset, types, sizes, data);
}
std::vector<std::string>::iterator it;
std::size_t max_size = std::numeric_limits<std::size_t>::max();
// x field
std::size_t x = max_size;
it = std::find(fields.begin(), fields.end(), "x");
if (it != fields.end())
x = std::distance(fields.begin(), it);
// y field
std::size_t y = max_size;
it = std::find(fields.begin(), fields.end(), "y");
if (it != fields.end())
y = std::distance(fields.begin(), it);
// z field
std::size_t z = max_size;
it = std::find(fields.begin(), fields.end(), "z");
if (it != fields.end())
z = std::distance(fields.begin(), it);
// normal x field
std::size_t normal_x = max_size;
it = std::find(fields.begin(), fields.end(), "normal_x");
if (it == fields.end())
it = std::find(fields.begin(), fields.end(), "nx");
if (it != fields.end())
normal_x = std::distance(fields.begin(), it);
// normal y field
std::size_t normal_y = max_size;
it = std::find(fields.begin(), fields.end(), "normal_y");
if (it == fields.end())
it = std::find(fields.begin(), fields.end(), "ny");
if (it != fields.end())
normal_y = std::distance(fields.begin(), it);
// normal z field
std::size_t normal_z = max_size;
it = std::find(fields.begin(), fields.end(), "normal_z");
if (it == fields.end())
it = std::find(fields.begin(), fields.end(), "nz");
if (it != fields.end())
normal_z = std::distance(fields.begin(), it);
// intensity field
std::size_t greyvalue = max_size;
it = std::find(fields.begin(), fields.end(), "intensity");
if (it != fields.end())
greyvalue = std::distance(fields.begin(), it);
// rgb(a) field
std::size_t red = max_size, green = max_size, blue = max_size, alpha = max_size;
it = std::find(fields.begin(), fields.end(), "red");
if (it != fields.end())
red = std::distance(fields.begin(), it);
it = std::find(fields.begin(), fields.end(), "green");
if (it != fields.end())
green = std::distance(fields.begin(), it);
it = std::find(fields.begin(), fields.end(), "blue");
if (it != fields.end())
blue = std::distance(fields.begin(), it);
it = std::find(fields.begin(), fields.end(), "alpha");
if (it != fields.end())
alpha = std::distance(fields.begin(), it);
// transfer the data
bool hasData = (x != max_size && y != max_size && z != max_size);
bool hasNormal = (normal_x != max_size && normal_y != max_size && normal_z != max_size);
bool hasIntensity = (greyvalue != max_size);
bool hasColor = (red != max_size && green != max_size && blue != max_size);
if (hasData) {
points.reserve(numPoints);
for (std::size_t i=0; i<numPoints; i++) {
points.push_back(Base::Vector3d(data(i,x),data(i,y),data(i,z)));
}
}
if (hasData && hasNormal) {
normals.reserve(numPoints);
for (std::size_t i=0; i<numPoints; i++) {
normals.emplace_back(data(i,normal_x),data(i,normal_y),data(i,normal_z));
}
}
if (hasData && hasIntensity) {
intensity.reserve(numPoints);
for (std::size_t i=0; i<numPoints; i++) {
intensity.push_back(data(i,greyvalue));
}
}
if (hasData && hasColor) {
colors.reserve(numPoints);
float a = 1.0;
if (types[red] == "uchar") {
for (std::size_t i=0; i<numPoints; i++) {
float r = data(i, red);
float g = data(i, green);
float b = data(i, blue);
if (alpha != max_size)
a = data(i, alpha);
colors.emplace_back(static_cast<float>(r)/255.0f,
static_cast<float>(g)/255.0f,
static_cast<float>(b)/255.0f,
static_cast<float>(a)/255.0f);
}
}
else if (types[red] == "float") {
for (std::size_t i=0; i<numPoints; i++) {
float r = data(i, red);
float g = data(i, green);
float b = data(i, blue);
if (alpha != max_size)
a = data(i, alpha);
colors.emplace_back(r, g, b, a);
}
}
}
}
std::size_t PlyReader::readHeader(std::istream& in,
std::string& format,
std::size_t& offset,
std::vector<std::string>& fields,
std::vector<std::string>& types,
std::vector<int>& sizes)
{
std::string line, element;
std::vector<std::string> list;
std::size_t numPoints = 0;
// a pair of numbers of elements and the total size of the properties
std::vector<std::pair<std::size_t, std::size_t> > count_props;
// read in the first three characters
char ply[3];
in.read(ply, 3);
in.ignore(1);
if (!in || (ply[0] != 'p') || (ply[1] != 'l') || (ply[2] != 'y'))
throw Base::BadFormatError("Not a ply file"); // wrong header
while (std::getline(in, line)) {
if (line.empty())
continue;
// since the file is loaded in binary mode we may get the CR at the end
boost::trim(line);
boost::split(list, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
std::istringstream str(line);
str.imbue(std::locale::classic());
std::string kw;
str >> kw;
if (kw == "format") {
if (list.size() != 3) {
throw Base::BadFormatError("Not a valid ply file");
}
std::string format_string = list[1];
std::string version = list[2];
if (format_string == "ascii") {
format = format_string;
}
else if (format_string == "binary_big_endian") {
format = format_string;
}
else if (format_string == "binary_little_endian") {
format = format_string;
}
else {
// wrong format version
throw Base::BadFormatError("Wrong format version");
}
if (version != "1.0") {
// wrong version
throw Base::BadFormatError("Wrong version number");
}
}
else if (kw == "element") {
if (list.size() != 3) {
throw Base::BadFormatError("Not a valid ply file");
}
std::string name = list[1];
std::size_t count = boost::lexical_cast<std::size_t>(list[2]);
if (name == "vertex") {
element = name;
numPoints = count;
}
else {
// if another element than 'vertex' comes first then calculate the offset
if (numPoints == 0) {
count_props.emplace_back(count, 0);
}
else {
// this happens for elements coming after 'vertex'
element.clear();
}
}
}
else if (kw == "property") {
if (list.size() < 3) {
throw Base::BadFormatError("Not a valid ply file");
}
std::string name = list.back();
std::list<std::string> number;
if (list[1] == "list") {
number.insert(number.end(), list.begin(), list.end());
number.pop_front(); // property
number.pop_front(); // list
number.pop_back();
}
else {
number.push_back(list[1]);
}
for (std::list<std::string>::iterator it = number.begin(); it != number.end(); ++it) {
int size = 0;
if (*it == "char" || *it == "int8") {
size = 1;
}
else if (*it == "uchar" || *it == "uint8") {
size = 1;
}
else if (*it == "short" || *it == "int16") {
size = 2;
}
else if (*it == "ushort" || *it == "uint16") {
size = 2;
}
else if (*it == "int" || *it == "int32") {
size = 4;
}
else if (*it == "uint" || *it == "uint32") {
size = 4;
}
else if (*it == "float" || *it == "float32") {
size = 4;
}
else if (*it == "double" || *it == "float64") {
size = 8;
}
else {
// no valid number type
throw Base::BadFormatError("Not a valid number type");
}
if (element == "vertex") {
// store the property name and type
fields.push_back(name);
types.push_back(*it);
sizes.push_back(size);
}
else if (!count_props.empty()) {
count_props.back().second += size;
}
}
}
else if (kw == "end_header") {
break;
}
}
if (fields.size() != sizes.size() ||
fields.size() != types.size()) {
throw Base::BadFormatError("");
}
offset = 0;
if (format == "ascii") {
// just sum up the number of lines to ignore
std::vector<std::pair<std::size_t, std::size_t> >::iterator it;
for (it = count_props.begin(); it != count_props.end(); ++it) {
offset += it->first;
}
}
else {
std::vector<std::pair<std::size_t, std::size_t> >::iterator it;
for (it = count_props.begin(); it != count_props.end(); ++it) {
offset += it->first * it->second;
}
}
return numPoints;
}
void PlyReader::readAscii(std::istream& inp, std::size_t offset, Eigen::MatrixXd& data)
{
std::string line;
std::size_t row = 0;
std::size_t numPoints = data.rows();
std::size_t numFields = data.cols();
std::vector<std::string> list;
while (std::getline(inp, line) && row < numPoints) {
if (line.empty())
continue;
if (offset > 0) {
offset--;
continue;
}
// since the file is loaded in binary mode we may get the CR at the end
boost::trim(line);
boost::split(list, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
std::istringstream str(line);
for (std::size_t col = 0; col < list.size() && col < numFields; col++) {
double value = boost::lexical_cast<double>(list[col]);
data(row, col) = value;
}
++row;
}
}
void PlyReader::readBinary(bool swapByteOrder,
std::istream& inp,
std::size_t offset,
const std::vector<std::string>& types,
const std::vector<int>& sizes,
Eigen::MatrixXd& data)
{
std::size_t numPoints = data.rows();
std::size_t numFields = data.cols();
int neededSize = 0;
ConverterPtr convert_float32(new ConverterT<float>);
ConverterPtr convert_float64(new ConverterT<double>);
ConverterPtr convert_int8(new ConverterT<int8_t>);
ConverterPtr convert_uint8(new ConverterT<uint8_t>);
ConverterPtr convert_int16(new ConverterT<int16_t>);
ConverterPtr convert_uint16(new ConverterT<uint16_t>);
ConverterPtr convert_int32(new ConverterT<int32_t>);
ConverterPtr convert_uint32(new ConverterT<uint32_t>);
std::vector<ConverterPtr> converters;
for (std::size_t j=0; j<numFields; j++) {
std::string t = types[j];
switch (sizes[j]) {
case 1:
if (t == "char" || t == "int8")
converters.push_back(convert_int8);
else if (t == "uchar" || t == "uint8")
converters.push_back(convert_uint8);
else
throw Base::BadFormatError("Unexpected type");
break;
case 2:
if (t == "short" || t == "int16")
converters.push_back(convert_int16);
else if (t == "ushort" || t == "uint16")
converters.push_back(convert_uint16);
else
throw Base::BadFormatError("Unexpected type");
break;
case 4:
if (t == "int" || t == "int32")
converters.push_back(convert_int32);
else if (t == "uint" || t == "uint32")
converters.push_back(convert_uint32);
else if (t == "float" || t == "float32")
converters.push_back(convert_float32);
else
throw Base::BadFormatError("Unexpected type");
break;
case 8:
if (t == "double" || t == "float64")
converters.push_back(convert_float64);
else
throw Base::BadFormatError("Unexpected type");
break;
default:
throw Base::BadFormatError("Unexpected type");
}
neededSize += converters.back()->getSizeOf();
}
std::streamoff ulSize = 0;
std::streamoff ulCurr = 0;
std::streambuf* buf = inp.rdbuf();
if (buf) {
ulCurr = buf->pubseekoff(static_cast<std::streamoff>(offset), std::ios::cur, std::ios::in);
ulSize = buf->pubseekoff(0, std::ios::end, std::ios::in);
buf->pubseekoff(ulCurr, std::ios::beg, std::ios::in);
if (ulCurr + neededSize*static_cast<std::streamoff>(numPoints) > ulSize)
throw Base::BadFormatError("File expects too many elements");
}
Base::InputStream str(inp);
str.setByteOrder(swapByteOrder ? Base::Stream::BigEndian : Base::Stream::LittleEndian);
for (std::size_t i=0; i<numPoints; i++) {
for (std::size_t j=0; j<numFields; j++) {
double value = converters[j]->toDouble(str);
data(i, j) = value;
}
}
}
// ----------------------------------------------------------------------------
PcdReader::PcdReader()
{
}
PcdReader::~PcdReader()
{
}
void PcdReader::read(const std::string& filename)
{
clear();
this->width = -1;
this->height = -1;
Base::FileInfo fi(filename);
Base::ifstream inp(fi, std::ios::in | std::ios::binary);
std::string format;
std::vector<std::string> fields;
std::vector<std::string> types;
std::vector<int> sizes;
std::size_t numPoints = readHeader(inp, format, fields, types, sizes);
Eigen::MatrixXd data(numPoints, fields.size());
if (format == "ascii") {
readAscii(inp, data);
}
else if (format == "binary") {
readBinary(false, inp, types, sizes, data);
}
else if (format == "binary_compressed") {
unsigned int c, u;
Base::InputStream str(inp);
str >> c >> u;
std::vector<char> compressed(c);
inp.read(&compressed[0], c);
std::vector<char> uncompressed(u);
if (lzfDecompress(&compressed[0], c, &uncompressed[0], u) == u) {
DataStreambuf ibuf(uncompressed);
std::istream istr(nullptr);
istr.rdbuf(&ibuf);
readBinary(true, istr, types, sizes, data);
}
else {
throw Base::BadFormatError("Failed to decompress binary data");
}
}