ply_parser.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2007-2012, Ares Lagae
 *  Copyright (c) 2012, Willow Garage, Inc.
 *
 *  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 Willow Garage, Inc. 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.
 *
 * $Id$
 *
 */

#include <pcl/io/ply/ply_parser.h>

bool pcl::io::ply::ply_parser::parse (const std::string& filename)
{
  std::ifstream istream (filename.c_str (), std::ios::in | std::ios::binary);

  std::string line;
  line_number_ = 0;

  std::size_t number_of_format_statements = 0; 
  std::size_t number_of_element_statements = 0; 
  std::size_t number_of_property_statements = 0; 
  std::size_t number_of_obj_info_statements = 0; 
  std::size_t number_of_comment_statements = 0;

  format_type format = pcl::io::ply::unknown;
  std::vector< boost::shared_ptr<element> > elements;

  // magic
  char magic[4];
  istream.read (magic, 4);
  if (magic[3] == '\r') // Check if CR/LF
    istream.ignore (1);
  ++line_number_;
  if (!istream)
  {
    if (error_callback_)
      error_callback_ (line_number_, "parse error");
    return false;
  }

  if ((magic[0] != 'p') || (magic[1] != 'l') || (magic[2] != 'y'))
  {
    if (error_callback_)
      error_callback_ (line_number_, "parse error");
    return false;
  }

  if (magic_callback_)
    magic_callback_ ();

  while (std::getline (istream, line))
  {
    ++line_number_;
    std::istringstream stringstream (line);
    stringstream.unsetf (std::ios_base::skipws);

    stringstream >> std::ws;
    if (stringstream.eof ())
    {
      if (warning_callback_)
        warning_callback_ (line_number_, "ignoring line '" + line + "'");
    }
    else
    {
      std::string keyword;
      stringstream >> keyword;

      // format
      if (keyword == "format")
      {
        std::string format_string, version;
        char space_format_format_string, space_format_string_version;
        stringstream >> space_format_format_string >> std::ws >> format_string >> space_format_string_version >> std::ws >> version >> std::ws;
        if (!stringstream || 
            !stringstream.eof () || 
            !isspace (space_format_format_string) || 
            !isspace (space_format_string_version))
        {
          if (error_callback_)
            error_callback_ (line_number_, "parse error");
          return false;
        }
        if (format_string == "ascii")
        {
          format = ascii_format;
        }
        else if (format_string == "binary_big_endian")
        {
          format = binary_big_endian_format;
        }
        else if (format_string == "binary_little_endian")
        {
          format = binary_little_endian_format;
        }
        else
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "parse error");
          }
          return false;
        }
        if (version != "1.0")
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "version '" + version + "' is not supported");
          }
          return false;
        }
        if (number_of_format_statements > 0)
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "parse error");
          }
          return false;
        }
        ++number_of_format_statements;
        if (format_callback_)
        {
          format_callback_ (format, version);
        }
      }
      // element
      else if (keyword == "element")
      {
        std::string name;
        std::size_t count;
        char space_element_name, space_name_count;
        stringstream >> space_element_name >> std::ws >> name >> space_name_count >> std::ws >> count >> std::ws;
        if (!stringstream || 
            !stringstream.eof () || 
            !isspace (space_element_name) || 
            !isspace (space_name_count))
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "parse error");
          }
          return false;
        }
        std::vector< boost::shared_ptr<element> >::const_iterator iterator;
        for (iterator = elements.begin (); iterator != elements.end (); ++iterator)
        {
          const struct element& element = *(iterator->get ());
          if (element.name == name)
          {
            break;
          }
        }
        if (iterator != elements.end ())
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "parse error");
          }
          return false;
        }
        ++number_of_element_statements;
        element_callbacks_type element_callbacks;
        if (element_definition_callbacks_)
        {
          element_callbacks = element_definition_callbacks_ (name, count);
        }
        boost::shared_ptr<element> element_ptr (new element (name, 
                                                                count, 
                                                                boost::get<0>(element_callbacks), 
                                                                boost::get<1>(element_callbacks)));
        elements.push_back (boost::shared_ptr<element>(element_ptr));
        current_element_ = element_ptr.get ();
      }

      // property
      else if (keyword == "property")
      {
        std::string type_or_list;
        char space_property_type_or_list;
        stringstream >> space_property_type_or_list >> std::ws >> type_or_list;
        if (!stringstream || !isspace (space_property_type_or_list))
        {
          if (error_callback_)
          {
            error_callback_ (line_number_, "parse error");
          }
          return false;
        }
        if (type_or_list != "list") {
          std::string name;
          std::string& type = type_or_list;
          char space_type_name;
          stringstream >> space_type_name >> std::ws >> name >> std::ws;
          if (!stringstream || !isspace (space_type_name))
          {
            if (error_callback_)
            {
              error_callback_ (line_number_, "parse error");
            }
            return false;
          }
          if (number_of_element_statements == 0)
          {
            if (error_callback_)
            {
              error_callback_ (line_number_, "parse error");
            }
            return false;
          }
          std::vector< boost::shared_ptr<property> >::const_iterator iterator;
          for (iterator = current_element_->properties.begin (); 
               iterator != current_element_->properties.end (); 
               ++iterator)
          {
            const struct property& property = *(iterator->get ());
            if (property.name == name)
              break;
          }
          if (iterator != current_element_->properties.end ())
          {
            if (error_callback_)
              error_callback_ (line_number_, "parse error");
            return false;
          }
          if ((type == type_traits<int8>::name ()) || (type == type_traits<int8>::old_name ()))
          {
            parse_scalar_property_definition<int8>(name);
          }
          else if ((type == type_traits<int16>::name ()) || (type == type_traits<int16>::old_name ()))
          {
            parse_scalar_property_definition<int16>(name);
          }
          else if ((type == type_traits<int32>::name ()) || (type == type_traits<int32>::old_name ()))
          {
            parse_scalar_property_definition<int32>(name);
          }
          else if ((type == type_traits<uint8>::name ()) || (type == type_traits<uint8>::old_name ()))
          {
            parse_scalar_property_definition<uint8>(name);
          }
          else if ((type == type_traits<uint16>::name ()) || (type == type_traits<uint16>::old_name ()))
          {
            parse_scalar_property_definition<uint16>(name);
          }
          else if ((type == type_traits<uint32>::name ()) || (type == type_traits<uint32>::old_name ()))
          {
            parse_scalar_property_definition<uint32>(name);
          }
          else if ((type == type_traits<float32>::name ()) || (type == type_traits<float32>::old_name ()))
          {
            parse_scalar_property_definition<float32>(name);
          }
          else if ((type == type_traits<float64>::name ()) || (type == type_traits<float64>::old_name ()))
          {
            parse_scalar_property_definition<float64>(name);
          }
          else
          {
            if (error_callback_)
            {
              error_callback_ (line_number_, "parse error");
            }
            return false;
          }
          ++number_of_property_statements;
        }
        else
        {
          std::string name;
          std::string size_type_string, scalar_type_string;
          char space_list_size_type, space_size_type_scalar_type, space_scalar_type_name;
          stringstream >> space_list_size_type >> std::ws >> size_type_string >> space_size_type_scalar_type >> std::ws >> scalar_type_string >> space_scalar_type_name >> std::ws >> name >> std::ws;
          if (!stringstream || 
              !isspace (space_list_size_type) || 
              !isspace (space_size_type_scalar_type) || 
              !isspace (space_scalar_type_name))
          {
            if (error_callback_)
              error_callback_ (line_number_, "parse error");
            return false;
          }
          if (number_of_element_statements == 0)
          {
            if (error_callback_)
              error_callback_ (line_number_, "parse error");
            return false;
          }
          std::vector< boost::shared_ptr<property> >::const_iterator iterator;
          for (iterator = current_element_->properties.begin (); 
               iterator != current_element_->properties.end (); 
               ++iterator) 
          {
            const struct property& property = *(iterator->get ());
            if (property.name == name)
              break;
          }
          if (iterator != current_element_->properties.end ())
          {
            if (error_callback_)
              error_callback_ (line_number_, "parse error");
            return false;
          }
          if ((size_type_string == type_traits<uint8>::name ()) || (size_type_string == type_traits<uint8>::old_name ()))
          {
            typedef uint8 size_type;
            if ((scalar_type_string == type_traits<int8>::name ()) || (scalar_type_string == type_traits<int8>::old_name ()))
            {
              parse_list_property_definition<size_type, int8>(name);
            }
            else if ((scalar_type_string == type_traits<int16>::name ()) || (scalar_type_string == type_traits<int16>::old_name ()))
            {
              parse_list_property_definition<size_type, int16>(name);
            }
            else if ((scalar_type_string == type_traits<int32>::name ()) || (scalar_type_string == type_traits<int32>::old_name ()))
            {
              parse_list_property_definition<size_type, int32>(name);
            }
            else if ((scalar_type_string == type_traits<uint8>::name ()) || (scalar_type_string == type_traits<uint8>::old_name ()))
            {
              parse_list_property_definition<size_type, uint8>(name);
            }
            else if ((scalar_type_string == type_traits<uint16>::name ()) || (scalar_type_string == type_traits<uint16>::old_name ()))
            {
              parse_list_property_definition<size_type, uint16>(name);
            }
            else if ((scalar_type_string == type_traits<uint32>::name ()) || (scalar_type_string == type_traits<uint32>::old_name ()))
            {
              parse_list_property_definition<size_type, uint32>(name);
            }
            else if ((scalar_type_string == type_traits<float32>::name ()) || (scalar_type_string == type_traits<float32>::old_name ()))
            {
              parse_list_property_definition<size_type, float32>(name);
            }
            else if ((scalar_type_string == type_traits<float64>::name ()) || (scalar_type_string == type_traits<float64>::old_name ()))
            {
              parse_list_property_definition<size_type, float64>(name);
            }
            else
            {
              if (error_callback_)
              {
                error_callback_ (line_number_, "parse error");
              }
              return false;
            }
          }
          else if ((size_type_string == type_traits<uint16>::name ()) || (size_type_string == type_traits<uint16>::old_name ()))
          {
            typedef uint16 size_type;
            if ((scalar_type_string == type_traits<int8>::name ()) || (scalar_type_string == type_traits<int8>::old_name ()))
            {
              parse_list_property_definition<size_type, int8>(name);
            }
            else if ((scalar_type_string == type_traits<int16>::name ()) || (scalar_type_string == type_traits<int16>::old_name ()))
            {
              parse_list_property_definition<size_type, int16>(name);
            }
            else if ((scalar_type_string == type_traits<int32>::name ()) || (scalar_type_string == type_traits<int32>::old_name ()))
            {
              parse_list_property_definition<size_type, int32>(name);
            }
            else if ((scalar_type_string == type_traits<uint8>::name ()) || (scalar_type_string == type_traits<uint8>::old_name ()))
            {
              parse_list_property_definition<size_type, uint8>(name);
            }
            else if ((scalar_type_string == type_traits<uint16>::name ()) || (scalar_type_string == type_traits<uint16>::old_name ()))
            {
              parse_list_property_definition<size_type, uint16>(name);
            }
            else if ((scalar_type_string == type_traits<uint32>::name ()) || (scalar_type_string == type_traits<uint32>::old_name ()))
            {
              parse_list_property_definition<size_type, uint32>(name);
            }
            else if ((scalar_type_string == type_traits<float32>::name ()) || (scalar_type_string == type_traits<float32>::old_name ()))
            {
              parse_list_property_definition<size_type, float32>(name);
            }
            else if ((scalar_type_string == type_traits<float64>::name ()) || (scalar_type_string == type_traits<float64>::old_name ()))
            {
              parse_list_property_definition<size_type, float64>(name);
            }
            else
            {
              if (error_callback_)
                error_callback_ (line_number_, "parse error");
              return false;
            }
          }
          else if ((size_type_string == type_traits<uint32>::name ()) || (size_type_string == type_traits<uint32>::old_name ()))
          {
            typedef uint32 size_type;
            if ((scalar_type_string == type_traits<int8>::name ()) || (scalar_type_string == type_traits<int8>::old_name ()))
            {
              parse_list_property_definition<size_type, int8>(name);
            }
            else if ((scalar_type_string == type_traits<int16>::name ()) || (scalar_type_string == type_traits<int16>::old_name ()))
            {
              parse_list_property_definition<size_type, int16>(name);
            }
            else if ((scalar_type_string == type_traits<int32>::name ()) || (scalar_type_string == type_traits<int32>::old_name ()))
            {
              parse_list_property_definition<size_type, int32>(name);
            }
            else if ((scalar_type_string == type_traits<uint8>::name ()) || (scalar_type_string == type_traits<uint8>::old_name ()))
            {
              parse_list_property_definition<size_type, uint8>(name);
            }
            else if ((scalar_type_string == type_traits<uint16>::name ()) || (scalar_type_string == type_traits<uint16>::old_name ()))
            {
              parse_list_property_definition<size_type, uint16>(name);
            }
            else if ((scalar_type_string == type_traits<uint32>::name ()) || (scalar_type_string == type_traits<uint32>::old_name ()))
            {
              parse_list_property_definition<size_type, uint32>(name);
            }
            else if ((scalar_type_string == type_traits<float32>::name ()) || (scalar_type_string == type_traits<float32>::old_name ()))
            {
              parse_list_property_definition<size_type, float32>(name);
            }
            else if ((scalar_type_string == type_traits<float64>::name ()) || (scalar_type_string == type_traits<float64>::old_name ()))
            {
              parse_list_property_definition<size_type, float64>(name);
            }
            else
            {
              if (error_callback_)
                error_callback_ (line_number_, "parse error");
              return false;
            }
          }
          else
          {
            if (error_callback_)
              error_callback_ (line_number_, "parse error");
            return false;
          }
          ++number_of_property_statements;
        }
      }

      // comment
      else if (keyword == "comment")
      {
        if (comment_callback_)
          comment_callback_ (line);
        ++number_of_comment_statements;
      }

      // obj_info
      else if (keyword == "obj_info")
      {
        if (obj_info_callback_)
          obj_info_callback_ (line);
        ++number_of_obj_info_statements;
      }

      // end_header
      else if (keyword == "end_header")
      {
        if (end_header_callback_)
        {
          if (end_header_callback_ () == false)
            return true;
        }
        break;
      }
      // unknown keyword
      else
      {
        if (warning_callback_)
          warning_callback_ (line_number_, "ignoring line '" + line + "'");
      }
    }
  }

  if (number_of_format_statements == 0)
  {
    if (error_callback_) 
     error_callback_ (line_number_, "parse error");
    return false;
  }

  // ascii
  if (format == ascii_format)
  {
    for (std::vector< boost::shared_ptr<element> >::const_iterator element_iterator = elements.begin (); 
         element_iterator != elements.end (); 
         ++element_iterator)
    {
      struct element& element = *(element_iterator->get ());
      for (std::size_t element_index = 0; element_index < element.count; ++element_index)
      {
        if (element.begin_element_callback) 
          element.begin_element_callback ();
        if (!std::getline (istream, line))
        {
          if (error_callback_)
            error_callback_ (line_number_, "parse error");
          return false;
        }
        ++line_number_;
        std::istringstream stringstream (line);
        stringstream.unsetf (std::ios_base::skipws);
        stringstream >> std::ws;
        for (std::vector< boost::shared_ptr<property> >::const_iterator property_iterator = element.properties.begin (); 
             property_iterator != element.properties.end (); 
             ++property_iterator)
        {
          struct property& property = *(property_iterator->get ());
          if (property.parse (*this, format, stringstream) == false)
            return false;
        }
        if (!stringstream.eof ())
        {
          if (error_callback_)
            error_callback_ (line_number_, "parse error");
          return false;
        }
        if (element.end_element_callback)
          element.end_element_callback ();
      }
    }
    istream >> std::ws;
    if (istream.fail () || !istream.eof () || istream.bad ())
    {
      if (error_callback_)
        error_callback_ (line_number_, "parse error");
      return false;
    }
    return true;
  }

  // binary
  else
  {
    std::streampos data_start = istream.tellg ();
    istream.close ();
    istream.open (filename.c_str (), std::ios::in | std::ios::binary);
    istream.seekg (data_start);

    for (std::vector< boost::shared_ptr<element> >::const_iterator element_iterator = elements.begin (); 
         element_iterator != elements.end (); 
         ++element_iterator)
    {
      struct element& element = *(element_iterator->get ());
      for (std::size_t element_index = 0; element_index < element.count; ++element_index)
      {
        if (element.begin_element_callback) {
          element.begin_element_callback ();
        }
        for (std::vector< boost::shared_ptr<property> >::const_iterator property_iterator = element.properties.begin (); 
             property_iterator != element.properties.end (); 
             ++property_iterator)
        {
          struct property& property = *(property_iterator->get ());
          if (property.parse (*this, format, istream) == false)
          {
            return false;
          }
        }
        if (element.end_element_callback)
        {
          element.end_element_callback ();
        }
      }
    }
    if (istream.fail () || (istream.rdbuf ()->sgetc () != std::char_traits<char>::eof ()) || istream.bad ())
    {
      if (error_callback_)
      {
        error_callback_ (line_number_, "parse error");
      }
      return false;
    }
    return true;
  }
}