Support lowercase types (i, u, f) when reading PCD files (#6930)

isl-org · Sep 4, 2024 · d18bb95 · d18bb95
1 parent 594f820
commit d18bb95
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Showing 3 changed files with 28 additions and 19 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -44,6 +44,7 @@
 -   Split pybind declarations/definitions to avoid C++ types in Python docs (PR #6869)
 -   Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
 -   Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
+-   Support lowercase types when reading PCD files (PR #6930)
 
 ## 0.13
 

diff --git a/cpp/open3d/io/file_format/FilePCD.cpp b/cpp/open3d/io/file_format/FilePCD.cpp
@@ -220,7 +220,8 @@ bool ReadPCDHeader(FILE *file, PCDHeader &header) {
 double UnpackBinaryPCDElement(const char *data_ptr,
                               const char type,
                               const int size) {
-    if (type == 'I') {
+    const char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         if (size == 1) {
             std::int8_t data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -236,7 +237,7 @@ double UnpackBinaryPCDElement(const char *data_ptr,
         } else {
             return 0.0;
         }
-    } else if (type == 'U') {
+    } else if (type_uppercase == 'U') {
         if (size == 1) {
             std::uint8_t data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -252,7 +253,7 @@ double UnpackBinaryPCDElement(const char *data_ptr,
         } else {
             return 0.0;
         }
-    } else if (type == 'F') {
+    } else if (type_uppercase == 'F') {
         if (size == 4) {
             float data;
             memcpy(&data, data_ptr, sizeof(data));
@@ -281,11 +282,12 @@ double UnpackASCIIPCDElement(const char *data_ptr,
                              const char type,
                              const int size) {
     char *end;
-    if (type == 'I') {
+    const char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         return (double)std::strtol(data_ptr, &end, 0);
-    } else if (type == 'U') {
+    } else if (type_uppercase == 'U') {
         return (double)std::strtoul(data_ptr, &end, 0);
-    } else if (type == 'F') {
+    } else if (type_uppercase == 'F') {
         return std::strtod(data_ptr, &end);
     }
     return 0.0;
@@ -297,13 +299,14 @@ Eigen::Vector3d UnpackASCIIPCDColor(const char *data_ptr,
     if (size == 4) {
         std::uint8_t data[4] = {0, 0, 0, 0};
         char *end;
-        if (type == 'I') {
+        const char type_uppercase = std::toupper(type, std::locale());
+        if (type_uppercase == 'I') {
             std::int32_t value = std::strtol(data_ptr, &end, 0);
             memcpy(data, &value, 4);
-        } else if (type == 'U') {
+        } else if (type_uppercase == 'U') {
             std::uint32_t value = std::strtoul(data_ptr, &end, 0);
             memcpy(data, &value, 4);
-        } else if (type == 'F') {
+        } else if (type_uppercase == 'F') {
             float value = std::strtof(data_ptr, &end);
             memcpy(data, &value, 4);
         }

diff --git a/cpp/open3d/t/io/file_format/FilePCD.cpp b/cpp/open3d/t/io/file_format/FilePCD.cpp
@@ -89,30 +89,34 @@ struct WriteAttributePtr {
 };
 
 static core::Dtype GetDtypeFromPCDHeaderField(char type, int size) {
-    if (type == 'I') {
+    char type_uppercase = std::toupper(type, std::locale());
+    if (type_uppercase == 'I') {
         if (size == 1) return core::Dtype::Int8;
         if (size == 2) return core::Dtype::Int16;
         if (size == 4) return core::Dtype::Int32;
         if (size == 8)
             return core::Dtype::Int64;
         else
-            utility::LogError("Unsupported data type.");
-    } else if (type == 'U') {
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
+    } else if (type_uppercase == 'U') {
         if (size == 1) return core::Dtype::UInt8;
         if (size == 2) return core::Dtype::UInt16;
         if (size == 4) return core::Dtype::UInt32;
         if (size == 8)
             return core::Dtype::UInt64;
         else
-            utility::LogError("Unsupported data type.");
-    } else if (type == 'F') {
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
+    } else if (type_uppercase == 'F') {
         if (size == 4) return core::Dtype::Float32;
         if (size == 8)
             return core::Dtype::Float64;
         else
-            utility::LogError("Unsupported data type.");
+            utility::LogError("Unsupported size {} for data type {}.", size,
+                              type);
     } else {
-        utility::LogError("Unsupported data type.");
+        utility::LogError("Unsupported data type {}.", type);
     }
 }
 
@@ -305,13 +309,14 @@ static void ReadASCIIPCDColorsFromField(ReadAttributePtr &attr,
     if (field.size == 4) {
         std::uint8_t data[4] = {0};
         char *end;
-        if (field.type == 'I') {
+        char type_uppercase = std::toupper(field.type, std::locale());
+        if (type_uppercase == 'I') {
             std::int32_t value = std::strtol(data_ptr, &end, 0);
             std::memcpy(data, &value, sizeof(std::int32_t));
-        } else if (field.type == 'U') {
+        } else if (type_uppercase == 'U') {
             std::uint32_t value = std::strtoul(data_ptr, &end, 0);
             std::memcpy(data, &value, sizeof(std::uint32_t));
-        } else if (field.type == 'F') {
+        } else if (type_uppercase == 'F') {
             float value = std::strtof(data_ptr, &end);
             std::memcpy(data, &value, sizeof(float));
         }