Change compression for writers.pcd

Option writers.pcd.compression is now a string rather than a flag.
Possible options are "ascii", "binary", "compressed". Default is "ascii".
Option writers.pcd.binary is removed for redundancy.

This addresses upgrades in PDAL#1206

plugins/pcl/io/PcdWriter.cpp

@@ -61,15 +61,28 @@ std::string PcdWriter::getName() const { return s_info.name; }
 void PcdWriter::processOptions(const Options& ops)
 {
     m_filename = ops.getValueOrThrow<std::string>("filename");
-    m_binary = ops.getValueOrDefault("binary", false);
-    m_compressed = ops.getValueOrDefault("compression", false);
+    std::string compression = ops.getValueOrDefault("compression", "ascii");
     m_xyz = ops.getValueOrDefault("xyz", false);
     m_offset_x = ops.getValueOrDefault("offset_x", 0.0);
     m_offset_y = ops.getValueOrDefault("offset_y", 0.0);
     m_offset_z = ops.getValueOrDefault("offset_z", 0.0);
     m_scale_x = ops.getValueOrDefault("scale_x", 1.0);
     m_scale_y = ops.getValueOrDefault("scale_y", 1.0);
     m_scale_z = ops.getValueOrDefault("scale_z", 1.0);
+
+    if (compression == "binary")
+    {
+      m_compression = 1;
+    }
+    else if (compression == "compressed")
+    {
+      m_compression = 2;
+    }
+    else  // including "ascii"
+    {
+      m_compression = 0;
+    }
+
     if (m_scale_x == 0.0)
     {
       m_scale_x = 1.0;
@@ -89,8 +102,7 @@ Options PcdWriter::getDefaultOptions()
     Options options;
 
     options.add("filename", "", "Filename to write PCD file to");
-    options.add("binary", false, "Write binary data?");
-    options.add("compression", false, "Write binary compressed data?");
+    options.add("compression", "ascii", "Level of PCD compression to use (ascii, binary, compressed)");
     options.add("xyz", false, "Write only XYZ dimensions?");
     options.add("offset_x", 0.0, "Offset to be subtracted from XYZ position");
     options.add("offset_y", 0.0, "Offset to be subtracted from XYZ position");

plugins/pcl/io/PcdWriter.hpp

@@ -69,8 +69,7 @@ class PDAL_DLL PcdWriter : public Writer
     inline void writeView(const PointViewPtr view); // implemented in header
 
     std::string m_filename;
-    bool m_compressed;
-    bool m_binary;
+    uint8_t m_compression;
     bool m_xyz;
     double m_offset_x;
     double m_offset_y;
@@ -93,17 +92,11 @@ void PcdWriter::writeView(const PointViewPtr view)
     bounds.grow(m_offset_x, m_offset_y, m_offset_z);
     pclsupport::PDALtoPCD(view, *cloud, bounds, m_scale_x, m_scale_y, m_scale_z);
     pcl::PCDWriter w;
-    if (m_compressed)
+    switch (m_compression)
     {
-        w.writeBinaryCompressed<PointT>(m_filename, *cloud);
-    }
-    else if (m_binary)
-    {
-        w.writeBinary<PointT>(m_filename, *cloud);
-    }
-    else
-    {
-        w.writeASCII<PointT>(m_filename, *cloud);
+        case 0 : w.writeASCII<PointT>(m_filename, *cloud); break;
+        case 1 : w.writeBinary<PointT>(m_filename, *cloud); break;
+        case 2 : w.writeBinaryCompressed<PointT>(m_filename, *cloud); break;
     }
 }