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

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merged 1 commit into from
Sep 4, 2024
Merged

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

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
- 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

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21 changes: 12 additions & 9 deletions cpp/open3d/io/file_format/FilePCD.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
Expand All @@ -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));
Expand All @@ -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));
Expand Down Expand Up @@ -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;
Expand All @@ -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);
}
Expand Down
25 changes: 15 additions & 10 deletions cpp/open3d/t/io/file_format/FilePCD.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

Expand Down Expand Up @@ -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));
}
Expand Down
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