Move PCL IO from plugin to native; initial commit of ASCII reader

io/PcdReader.cpp

@@ -0,0 +1,203 @@
+/******************************************************************************
+* Copyright (c) 2014, Brad Chambers (brad.chambers@gmail.com)
+*
+* 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 Hobu, Inc. or Flaxen Geo Consulting 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.
+****************************************************************************/
+
+#include <pdal/PDALUtils.hpp>
+#include <pdal/util/Algorithm.hpp>
+
+#include <boost/algorithm/string/classification.hpp>
+
+#include "PcdReader.hpp"
+#include "PcdHeader.hpp"
+
+namespace pdal
+{
+
+static StaticPluginInfo const s_info
+{
+    "readers.pcd",
+    "Read data in the Point Cloud Library (PCL) format.",
+    "http://pdal.io/stages/readers.pcd.html",
+    { "pcd" }
+};
+
+CREATE_STATIC_STAGE(PcdReader, s_info)
+
+std::string PcdReader::getName() const { return s_info.name; }
+
+QuickInfo PcdReader::inspect()
+{
+    QuickInfo qi;
+
+    initialize();
+
+    for (auto i : m_header.m_fields)
+        qi.m_dimNames.push_back(i.m_label);
+    qi.m_pointCount = m_header.m_pointCount;
+    qi.m_valid = true;
+
+    return qi;
+}
+
+void PcdReader::ready(PointTableRef table)
+{
+    m_istream = Utils::openFile(m_filename, false);
+    if (!m_istream)
+        throwError("Unable to open text file '" + m_filename + "'.");
+
+    m_istream->seekg(m_header.m_dataOffset);
+}
+
+
+void PcdReader::addDimensions(PointLayoutPtr layout)
+{
+    m_dims.clear();
+    for (auto i : m_header.m_fields)
+    {
+        Dimension::BaseType base = Dimension::BaseType::None;
+        if (i.m_type == PcdFieldType::U)
+            base = Dimension::BaseType::Unsigned;
+        else if (i.m_type == PcdFieldType::I)
+            base = Dimension::BaseType::Signed;
+        else if (i.m_type == PcdFieldType::F)
+            base = Dimension::BaseType::Floating;
+        Dimension::Type t = static_cast<Dimension::Type>(unsigned(base) | i.m_size);
+        Utils::trim(i.m_label);
+        Dimension::Id id = layout->registerOrAssignDim(i.m_label, t);
+        if (Utils::contains(m_dims, id) && id != pdal::Dimension::Id::Unknown)
+            throwError("Duplicate dimension '" + i.m_label +
+                "' detected in input file '" + m_filename + "'.");
+        m_dims.push_back(id);
+    }
+}
+
+
+bool PcdReader::fillFields()
+{
+    while (true)
+    {
+        if (!m_istream->good())
+            return false;
+
+        std::string buf;
+
+        std::getline(*m_istream, buf);
+        //m_line++;
+        if (buf.empty())
+            continue;
+
+        /*
+        if (m_separator != ' ')
+        {
+            Utils::remove(buf, ' ');
+            m_fields = Utils::split(buf, m_separator);
+        }
+        else
+            m_fields = Utils::split2(buf, m_separator);
+        */
+
+        Utils::trim(buf);
+        m_fields = Utils::split(buf, pdalboost::algorithm::is_any_of("\t\r "));
+        if (m_fields.size() != m_dims.size())
+        {
+            log()->get(LogLevel::Error) << "Line " << //m_line <<
+                " in '" << m_filename << "' contains " << m_fields.size() <<
+                " fields when " << m_dims.size() << " were expected.  "
+                "Ignoring." << std::endl;
+            continue;
+        }
+        return true;
+    }
+}
+
+
+bool PcdReader::processOne(PointRef& point)
+{
+    if (!fillFields())
+        return false;
+
+    double d;
+    for (size_t i = 0; i < m_fields.size(); ++i)
+    {
+        if (!Utils::fromString(m_fields[i], d))
+        {
+            log()->get(LogLevel::Error) << "Can't convert "
+                "field '" << m_fields[i] << "' to numeric value on line " <<
+                /*m_line <<*/ " in '" << m_filename << "'.  Setting to 0." <<
+                std::endl;
+            d = 0;
+        }
+        point.setField(m_dims[i], d);
+    }
+    return true;
+}
+
+
+point_count_t PcdReader::read(PointViewPtr view, point_count_t count)
+{
+    PointId idx = view->size();
+    point_count_t cnt = 0;
+    PointRef point(*view, idx);
+    while (cnt < count)
+    {
+        point.setPointId(idx);
+        if (!processOne(point))
+            break;
+        cnt++;
+        idx++;
+    }
+    return cnt;
+}
+
+void PcdReader::initialize()
+{
+    try {
+        m_istream = Utils::openFile(m_filename, false);
+        *m_istream >> m_header;
+        //std::cout << m_header; // echo back for testing
+    } catch (...) {
+        Utils::closeFile(m_istream);
+        throw;
+    }
+
+    Utils::closeFile(m_istream);
+}
+
+
+void PcdReader::done(PointTableRef table)
+{
+    Utils::closeFile(m_istream);
+}
+
+
+} // namespace pdal

plugins/pcl/io/PcdReader.hpp → io/PcdReader.hpp

@@ -34,32 +34,84 @@
 
 #pragma once
 
-#include <pdal/PointView.hpp>
 #include <pdal/Reader.hpp>
-#include <pdal/StageFactory.hpp>
+#include <pdal/Streamable.hpp>
 
 #include "PcdCommon.hpp"
 #include "PcdHeader.hpp"
 
 namespace pdal
 {
 
-class PDAL_DLL PcdReader : public pdal::Reader
+class PDAL_DLL PcdReader : public Reader, public Streamable
 {
 public:
-    PcdReader() : Reader() {};
-
     std::string getName() const;
+
+    PcdReader() : Reader()
+    {}
 
 private:
-    PcdHeader m_header;
+    /**
+      Retrieve summary information for the file. NOTE - entire file must
+      be read to retrieve summary for text files.
+
+      \param table  Point table being initialized.
+    */
+    virtual QuickInfo inspect();
+
+    /**
+      Initialize the reader by opening the file and reading the header line.
+      Closes the file on completion.
 
+      \param table  Point table being initialized.
+    */
+    virtual void initialize();
+
+    /**
+      Add dimensions found in the header line to the layout.
+
+      \param layout  Layout to which the dimenions are added.
+    */
     virtual void addDimensions(PointLayoutPtr layout);
+
+    /**
+      Reopen the file in preparation for reading.
+
+      \param table  Point table to make ready.
+    */
     virtual void ready(PointTableRef table);
-    virtual point_count_t read(PointViewPtr view, point_count_t count);
 
-    virtual QuickInfo inspect();
-    virtual void initialize();
+    /**
+      Read up to numPts points into the \ref view.
+
+      \param view  PointView in which to insert point data.
+      \param numPts  Maximum number of points to read.
+      \return  Number of points read.
+    */
+    virtual point_count_t read(PointViewPtr view, point_count_t numPts);
+
+    /**
+      Close input file.
+
+      \param table  PointTable we're done with.
+    */
+    virtual void done(PointTableRef table);
+
+    /**
+      Read a single point from the input.
+
+      \param point  Reference to point to fill with data.
+      \return  False if no point could be read.
+    */
+    virtual bool processOne(PointRef& point);
+
+    bool fillFields();
+
+    PcdHeader m_header;
+    std::istream *m_istream;
+    Dimension::IdList m_dims;
+    StringList m_fields;
 };
 
 } // namespace pdal

plugins/pcl/io/PcdWriter.cpp → io/PcdWriter.cpp

@@ -33,17 +33,18 @@
 * OF SUCH DAMAGE.
 ****************************************************************************/
 
+/*
 #include "PcdWriter.hpp"
 #include "point_types.hpp"
 
 #include <algorithm>
 #include <iostream>
 #include <map>
 
-#include <pcl/io/pcd_io.h>
-#include <pcl/io/impl/pcd_io.hpp>
+#include "pcd_io.h"
+#include "pcd_io.hpp"
 
-#include "../PCLConversions.hpp"
+//#include "../PCLConversions.hpp"
 
 #include <pdal/PointView.hpp>
 #include <pdal/util/ProgramArgs.hpp>
@@ -58,7 +59,7 @@ static PluginInfo const s_info
     "http://pdal.io/stages/writers.pcd.html"
 };
 
-CREATE_SHARED_STAGE(PcdWriter, s_info)
+CREATE_STATIC_STAGE(PcdWriter, s_info)
 
 std::string PcdWriter::getName() const { return s_info.name; }
 
@@ -103,3 +104,4 @@ void PcdWriter::done(PointTableRef)
 
 
 } // namespaces
+*/

plugins/pcl/io/PcdWriter.hpp → io/PcdWriter.hpp

@@ -33,16 +33,17 @@
 * OF SUCH DAMAGE.
 ****************************************************************************/
 
+/*
 #pragma once
 
 #include <pdal/EigenUtils.hpp>
 #include <pdal/Writer.hpp>
 #include <pdal/util/FileUtils.hpp>
 
-#include "../PCLConversions.hpp"
+//#include "../PCLConversions.hpp"
 
-#include <pcl/io/pcd_io.h>
-#include <pcl/io/impl/pcd_io.hpp>
+#include "pcd_io.h"
+#include "pcd_io.hpp"
 
 #include <vector>
 #include <string>
@@ -125,3 +126,4 @@ void PcdWriter::writeView(const PointViewPtr view)
 
 
 } // namespaces
+*/

plugins/pcl/io/point_types.hpp → io/point_types.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <pcl/io/pcd_io.h>
-#include <pcl/io/impl/pcd_io.hpp>
+#include "pcd_io.h"
+#include "pcd_io.hpp"
 
 struct XYZIRGBA
 {