kopia lustrzana https://github.com/OpenDroneMap/ODM
622 wiersze
23 KiB
C++
622 wiersze
23 KiB
C++
// This software is in the public domain. Where that dedication is not
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// recognized, you are granted a perpetual, irrevocable license to copy,
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// distribute, and modify this file as you see fit.
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// Authored in 2015 by Dimitri Diakopoulos (http://www.dimitridiakopoulos.com)
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// https://github.com/ddiakopoulos/tinyply
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// Version 2.0
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#include "tinyply.h"
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#include <algorithm>
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#include <functional>
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#include <type_traits>
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#include <iostream>
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#include <cstring>
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using namespace tinyply;
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using namespace std;
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//////////////////
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// Endian Utils //
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//////////////////
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template<typename T> T endian_swap(const T & v) { return v; }
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template<> inline uint16_t endian_swap(const uint16_t & v) { return (v << 8) | (v >> 8); }
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template<> inline uint32_t endian_swap(const uint32_t & v) { return (v << 24) | ((v << 8) & 0x00ff0000) | ((v >> 8) & 0x0000ff00) | (v >> 24); }
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template<> inline uint64_t endian_swap(const uint64_t & v)
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{
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return (((v & 0x00000000000000ffLL) << 56) |
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((v & 0x000000000000ff00LL) << 40) |
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((v & 0x0000000000ff0000LL) << 24) |
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((v & 0x00000000ff000000LL) << 8) |
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((v & 0x000000ff00000000LL) >> 8) |
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((v & 0x0000ff0000000000LL) >> 24) |
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((v & 0x00ff000000000000LL) >> 40) |
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((v & 0xff00000000000000LL) >> 56));
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}
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template<> inline int16_t endian_swap(const int16_t & v) { uint16_t r = endian_swap(*(uint16_t*)&v); return *(int16_t*)&r; }
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template<> inline int32_t endian_swap(const int32_t & v) { uint32_t r = endian_swap(*(uint32_t*)&v); return *(int32_t*)&r; }
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template<> inline int64_t endian_swap(const int64_t & v) { uint64_t r = endian_swap(*(uint64_t*)&v); return *(int64_t*)&r; }
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inline float endian_swap_float(const uint32_t & v) { union { float f; uint32_t i; }; i = endian_swap(v); return f; }
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inline double endian_swap_double(const uint64_t & v) { union { double d; uint64_t i; }; i = endian_swap(v); return d; }
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/////////////////////////////
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// Internal Implementation //
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/////////////////////////////
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inline Type property_type_from_string(const std::string & t)
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{
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if (t == "int8" || t == "char") return Type::INT8;
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else if (t == "uint8" || t == "uchar") return Type::UINT8;
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else if (t == "int16" || t == "short") return Type::INT16;
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else if (t == "uint16" || t == "ushort") return Type::UINT16;
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else if (t == "int32" || t == "int") return Type::INT32;
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else if (t == "uint32" || t == "uint") return Type::UINT32;
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else if (t == "float32" || t == "float") return Type::FLOAT32;
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else if (t == "float64" || t == "double") return Type::FLOAT64;
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return Type::INVALID;
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}
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struct PlyFile::PlyFileImpl
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{
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struct PlyCursor
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{
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size_t byteOffset;
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size_t totalSizeBytes;
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};
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struct ParsingHelper
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{
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std::shared_ptr<PlyData> data;
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std::shared_ptr<PlyCursor> cursor;
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};
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std::map<std::string, ParsingHelper> userData;
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bool isBinary = false;
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bool isBigEndian = false;
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std::vector<PlyElement> elements;
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std::vector<std::string> comments;
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std::vector<std::string> objInfo;
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void read(std::istream & is);
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void write(std::ostream & os, bool isBinary);
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std::shared_ptr<PlyData> request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys);
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void add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount);
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size_t read_property_binary(const Type t, void * dest, size_t & destOffset, std::istream & is);
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size_t read_property_ascii(const Type t, void * dest, size_t & destOffset, std::istream & is);
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size_t skip_property_binary(const PlyProperty & property, std::istream & is);
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size_t skip_property_ascii(const PlyProperty & property, std::istream & is);
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bool parse_header(std::istream & is);
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void parse_data(std::istream & is, bool firstPass);
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void read_header_format(std::istream & is);
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void read_header_element(std::istream & is);
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void read_header_property(std::istream & is);
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void read_header_text(std::string line, std::vector<std::string> & place, int erase = 0);
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void write_header(std::ostream & os);
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void write_ascii_internal(std::ostream & os);
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void write_binary_internal(std::ostream & os);
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void write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset);
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void write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset);
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};
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//////////////////
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// PLY Property //
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//////////////////
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PlyProperty::PlyProperty(std::istream & is) : isList(false)
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{
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std::string type;
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is >> type;
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if (type == "list")
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{
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std::string countType;
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is >> countType >> type;
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listType = property_type_from_string(countType);
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isList = true;
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}
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propertyType = property_type_from_string(type);
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is >> name;
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}
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/////////////////
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// PLY Element //
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/////////////////
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PlyElement::PlyElement(std::istream & is)
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{
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is >> name >> size;
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}
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///////////
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// Utils //
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///////////
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std::string make_key(const std::string & a, const std::string & b)
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{
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return (a + "-" + b);
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}
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template<typename T> void ply_cast(void * dest, const char * src, bool be)
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{
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*(static_cast<T *>(dest)) = (be) ? endian_swap(*(reinterpret_cast<const T *>(src))) : *(reinterpret_cast<const T *>(src));
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}
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template<typename T> void ply_cast_float(void * dest, const char * src, bool be)
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{
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*(static_cast<T *>(dest)) = (be) ? endian_swap_float(*(reinterpret_cast<const uint32_t *>(src))) : *(reinterpret_cast<const T *>(src));
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}
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template<typename T> void ply_cast_double(void * dest, const char * src, bool be)
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{
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*(static_cast<T *>(dest)) = (be) ? endian_swap_double(*(reinterpret_cast<const uint64_t *>(src))) : *(reinterpret_cast<const T *>(src));
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}
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template<typename T> T ply_read_ascii(std::istream & is)
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{
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T data;
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is >> data;
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return data;
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}
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template<typename T> void ply_cast_ascii(void * dest, std::istream & is)
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{
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*(static_cast<T *>(dest)) = ply_read_ascii<T>(is);
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}
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size_t find_element(const std::string & key, const std::vector<PlyElement> & list)
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{
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for (size_t i = 0; i < list.size(); i++) if (list[i].name == key) return i;
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return -1;
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}
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size_t find_property(const std::string & key, const std::vector<PlyProperty> & list)
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{
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for (size_t i = 0; i < list.size(); ++i) if (list[i].name == key) return i;
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return -1;
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}
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//////////////
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// PLY File //
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//////////////
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bool PlyFile::PlyFileImpl::parse_header(std::istream & is)
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{
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std::string line;
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while (std::getline(is, line))
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{
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std::istringstream ls(line);
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std::string token;
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ls >> token;
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if (token == "ply" || token == "PLY" || token == "") continue;
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else if (token == "comment") read_header_text(line, comments, 8);
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else if (token == "format") read_header_format(ls);
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else if (token == "element") read_header_element(ls);
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else if (token == "property") read_header_property(ls);
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else if (token == "obj_info") read_header_text(line, objInfo, 9);
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else if (token == "end_header") break;
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else return false;
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}
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return true;
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}
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void PlyFile::PlyFileImpl::read_header_text(std::string line, std::vector<std::string>& place, int erase)
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{
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place.push_back((erase > 0) ? line.erase(0, erase) : line);
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}
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void PlyFile::PlyFileImpl::read_header_format(std::istream & is)
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{
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std::string s;
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(is >> s);
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if (s == "binary_little_endian") isBinary = true;
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else if (s == "binary_big_endian") isBinary = isBigEndian = true;
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}
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void PlyFile::PlyFileImpl::read_header_element(std::istream & is)
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{
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elements.emplace_back(is);
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}
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void PlyFile::PlyFileImpl::read_header_property(std::istream & is)
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{
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elements.back().properties.emplace_back(is);
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}
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size_t PlyFile::PlyFileImpl::skip_property_binary(const PlyProperty & p, std::istream & is)
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{
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static std::vector<char> skip(PropertyTable[p.propertyType].stride);
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if (p.isList)
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{
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size_t listSize = 0;
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size_t dummyCount = 0;
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read_property_binary(p.listType, &listSize, dummyCount, is);
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for (size_t i = 0; i < listSize; ++i) is.read(skip.data(), PropertyTable[p.propertyType].stride);
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return listSize * PropertyTable[p.propertyType].stride; // in bytes
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}
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else
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{
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is.read(skip.data(), PropertyTable[p.propertyType].stride);
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return PropertyTable[p.propertyType].stride;
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}
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}
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size_t PlyFile::PlyFileImpl::skip_property_ascii(const PlyProperty & p, std::istream & is)
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{
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std::string skip;
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if (p.isList)
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{
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size_t listSize = 0;
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size_t dummyCount = 0;
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read_property_ascii(p.listType, &listSize, dummyCount, is);
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for (size_t i = 0; i < listSize; ++i) is >> skip;
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return listSize * PropertyTable[p.propertyType].stride; // in bytes
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}
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else
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{
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is >> skip;
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return PropertyTable[p.propertyType].stride;
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}
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}
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size_t PlyFile::PlyFileImpl::read_property_binary(const Type t, void * dest, size_t & destOffset, std::istream & is)
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{
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destOffset += PropertyTable[t].stride;
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std::vector<char> src(PropertyTable[t].stride);
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is.read(src.data(), PropertyTable[t].stride);
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switch (t)
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{
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case Type::INT8: ply_cast<int8_t>(dest, src.data(), isBigEndian); break;
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case Type::UINT8: ply_cast<uint8_t>(dest, src.data(), isBigEndian); break;
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case Type::INT16: ply_cast<int16_t>(dest, src.data(), isBigEndian); break;
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case Type::UINT16: ply_cast<uint16_t>(dest, src.data(), isBigEndian); break;
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case Type::INT32: ply_cast<int32_t>(dest, src.data(), isBigEndian); break;
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case Type::UINT32: ply_cast<uint32_t>(dest, src.data(), isBigEndian); break;
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case Type::FLOAT32: ply_cast_float<float>(dest, src.data(), isBigEndian); break;
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case Type::FLOAT64: ply_cast_double<double>(dest, src.data(), isBigEndian); break;
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case Type::INVALID: throw std::invalid_argument("invalid ply property");
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}
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return PropertyTable[t].stride;
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}
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size_t PlyFile::PlyFileImpl::read_property_ascii(const Type t, void * dest, size_t & destOffset, std::istream & is)
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{
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destOffset += PropertyTable[t].stride;
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switch (t)
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{
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case Type::INT8: *((int8_t *)dest) = ply_read_ascii<int32_t>(is); break;
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case Type::UINT8: *((uint8_t *)dest) = ply_read_ascii<uint32_t>(is); break;
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case Type::INT16: ply_cast_ascii<int16_t>(dest, is); break;
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case Type::UINT16: ply_cast_ascii<uint16_t>(dest, is); break;
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case Type::INT32: ply_cast_ascii<int32_t>(dest, is); break;
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case Type::UINT32: ply_cast_ascii<uint32_t>(dest, is); break;
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case Type::FLOAT32: ply_cast_ascii<float>(dest, is); break;
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case Type::FLOAT64: ply_cast_ascii<double>(dest, is); break;
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case Type::INVALID: throw std::invalid_argument("invalid ply property");
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}
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return PropertyTable[t].stride;
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}
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void PlyFile::PlyFileImpl::write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset)
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{
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switch (t)
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{
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case Type::INT8: os << static_cast<int32_t>(*reinterpret_cast<int8_t*>(src)); break;
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case Type::UINT8: os << static_cast<uint32_t>(*reinterpret_cast<uint8_t*>(src)); break;
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case Type::INT16: os << *reinterpret_cast<int16_t*>(src); break;
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case Type::UINT16: os << *reinterpret_cast<uint16_t*>(src); break;
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case Type::INT32: os << *reinterpret_cast<int32_t*>(src); break;
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case Type::UINT32: os << *reinterpret_cast<uint32_t*>(src); break;
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case Type::FLOAT32: os << *reinterpret_cast<float*>(src); break;
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case Type::FLOAT64: os << *reinterpret_cast<double*>(src); break;
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case Type::INVALID: throw std::invalid_argument("invalid ply property");
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}
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os << " ";
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srcOffset += PropertyTable[t].stride;
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}
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void PlyFile::PlyFileImpl::write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset)
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{
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os.write((char *)src, PropertyTable[t].stride);
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srcOffset += PropertyTable[t].stride;
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}
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void PlyFile::PlyFileImpl::read(std::istream & is)
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{
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// Parse but only get the data size
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parse_data(is, true);
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std::vector<std::shared_ptr<PlyData>> buffers;
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for (auto & entry : userData) buffers.push_back(entry.second.data);
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// Since group-requested properties share the same cursor, we need to find unique cursors so we only allocate once
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std::sort(buffers.begin(), buffers.end());
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buffers.erase(std::unique(buffers.begin(), buffers.end()), buffers.end());
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// Not great, but since we sorted by ptrs on PlyData, need to remap back onto its cursor in the userData table
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for (auto & b : buffers)
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{
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for (auto & entry : userData)
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{
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if (entry.second.data == b && b->buffer.get() == nullptr)
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{
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b->buffer = Buffer(entry.second.cursor->totalSizeBytes);
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}
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}
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}
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// Populate the data
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parse_data(is, false);
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}
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void PlyFile::PlyFileImpl::write(std::ostream & os, bool _isBinary)
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{
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if (_isBinary) write_binary_internal(os);
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else write_ascii_internal(os);
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}
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void PlyFile::PlyFileImpl::write_binary_internal(std::ostream & os)
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{
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isBinary = true;
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write_header(os);
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for (auto & e : elements)
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{
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for (size_t i = 0; i < e.size; ++i)
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{
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for (auto & p : e.properties)
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{
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auto & helper = userData[make_key(e.name, p.name)];
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if (p.isList)
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{
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uint8_t listSize[4] = {0, 0, 0, 0};
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std::memcpy(listSize, &p.listCount, sizeof(uint32_t));
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size_t dummyCount = 0;
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write_property_binary(p.listType, os, listSize, dummyCount);
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for (int j = 0; j < p.listCount; ++j)
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{
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write_property_binary(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
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}
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}
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else
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{
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write_property_binary(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
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}
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}
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}
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}
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}
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void PlyFile::PlyFileImpl::write_ascii_internal(std::ostream & os)
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{
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write_header(os);
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for (auto & e : elements)
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{
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for (size_t i = 0; i < e.size; ++i)
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{
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for (auto & p : e.properties)
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{
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auto & helper = userData[make_key(e.name, p.name)];
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if (p.isList)
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{
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os << p.listCount << " ";
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for (int j = 0; j < p.listCount; ++j)
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{
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write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
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}
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}
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else
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{
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write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
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}
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}
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os << "\n";
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}
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}
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}
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void PlyFile::PlyFileImpl::write_header(std::ostream & os)
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{
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const std::locale & fixLoc = std::locale("C");
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os.imbue(fixLoc);
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os << "ply\n";
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if (isBinary) os << ((isBigEndian) ? "format binary_big_endian 1.0" : "format binary_little_endian 1.0") << "\n";
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else os << "format ascii 1.0\n";
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for (const auto & comment : comments) os << "comment " << comment << "\n";
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for (auto & e : elements)
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{
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os << "element " << e.name << " " << e.size << "\n";
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for (const auto & p : e.properties)
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{
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if (p.isList)
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{
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os << "property list " << PropertyTable[p.listType].str << " "
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<< PropertyTable[p.propertyType].str << " " << p.name << "\n";
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}
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else
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{
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os << "property " << PropertyTable[p.propertyType].str << " " << p.name << "\n";
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}
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}
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}
|
|
os << "end_header\n";
|
|
}
|
|
|
|
// Returns the size (in bytes)
|
|
std::shared_ptr<PlyData> PlyFile::PlyFileImpl::request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys)
|
|
{
|
|
// All requested properties in the userDataTable share the same cursor (thrown into the same flat array)
|
|
ParsingHelper helper;
|
|
helper.data = std::make_shared<PlyData>();
|
|
helper.data->count = 0;
|
|
helper.data->t = Type::INVALID;
|
|
helper.cursor = std::make_shared<PlyCursor>();
|
|
helper.cursor->byteOffset = 0;
|
|
helper.cursor->totalSizeBytes = 0;
|
|
|
|
if (elements.size() == 0) throw std::runtime_error("parsed header had no elements defined. malformed file?");
|
|
if (!propertyKeys.size()) throw std::invalid_argument("`propertyKeys` argument is empty");
|
|
if (elementKey.size() == 0) throw std::invalid_argument("`elementKey` argument is empty");
|
|
|
|
const int elementIndex = find_element(elementKey, elements);
|
|
|
|
// Sanity check if the user requested element is in the pre-parsed header
|
|
if (elementIndex >= 0)
|
|
{
|
|
// We found the element
|
|
const PlyElement & element = elements[elementIndex];
|
|
|
|
helper.data->count = element.size;
|
|
|
|
// Find each of the keys
|
|
for (auto key : propertyKeys)
|
|
{
|
|
const int propertyIndex = find_property(key, element.properties);
|
|
|
|
if (propertyIndex >= 0)
|
|
{
|
|
// We found the property
|
|
const PlyProperty & property = element.properties[propertyIndex];
|
|
|
|
helper.data->t = property.propertyType; // hmm....
|
|
|
|
auto result = userData.insert(std::pair<std::string, ParsingHelper>(make_key(element.name, property.name), helper));
|
|
if (result.second == false) throw std::invalid_argument("element-property key has already been requested: " + make_key(element.name, property.name));
|
|
}
|
|
else throw std::invalid_argument("one of the property keys was not found in the header: " + key);
|
|
}
|
|
}
|
|
else throw std::invalid_argument("the element key was not found in the header: " + elementKey);
|
|
|
|
return helper.data;
|
|
}
|
|
|
|
void PlyFile::PlyFileImpl::add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)
|
|
{
|
|
ParsingHelper helper;
|
|
helper.data = std::make_shared<PlyData>();
|
|
helper.data->count = count;
|
|
helper.data->t = type;
|
|
helper.data->buffer = Buffer(data);
|
|
helper.cursor = std::make_shared<PlyCursor>();
|
|
helper.cursor->byteOffset = 0;
|
|
helper.cursor->totalSizeBytes = 0;
|
|
|
|
auto create_property_on_element = [&](PlyElement & e)
|
|
{
|
|
for (auto key : propertyKeys)
|
|
{
|
|
PlyProperty newProp = (listType == Type::INVALID) ? PlyProperty(type, key) : PlyProperty(listType, type, key, listCount);
|
|
/* auto result = */userData.insert(std::pair<std::string, ParsingHelper>(make_key(elementKey, key), helper));
|
|
e.properties.push_back(newProp);
|
|
}
|
|
};
|
|
|
|
int idx = find_element(elementKey, elements);
|
|
if (idx >= 0)
|
|
{
|
|
PlyElement & e = elements[idx];
|
|
create_property_on_element(e);
|
|
}
|
|
else
|
|
{
|
|
PlyElement newElement = (listType == Type::INVALID) ? PlyElement(elementKey, count / propertyKeys.size()) : PlyElement(elementKey, count / listCount);
|
|
create_property_on_element(newElement);
|
|
elements.push_back(newElement);
|
|
}
|
|
}
|
|
|
|
void PlyFile::PlyFileImpl::parse_data(std::istream & is, bool firstPass)
|
|
{
|
|
std::function<size_t(const Type t, void * dest, size_t & destOffset, std::istream & is)> read;
|
|
std::function<size_t(const PlyProperty & p, std::istream & is)> skip;
|
|
|
|
const auto start = is.tellg();
|
|
|
|
if (isBinary)
|
|
{
|
|
read = [&](const Type t, void * dest, size_t & destOffset, std::istream & _is) { return read_property_binary(t, dest, destOffset, _is); };
|
|
skip = [&](const PlyProperty & p, std::istream & _is) { return skip_property_binary(p, _is); };
|
|
}
|
|
else
|
|
{
|
|
read = [&](const Type t, void * dest, size_t & destOffset, std::istream & _is) { return read_property_ascii(t, dest, destOffset, _is); };
|
|
skip = [&](const PlyProperty & p, std::istream & _is) { return skip_property_ascii(p, _is); };
|
|
}
|
|
|
|
for (auto & element : elements)
|
|
{
|
|
for (size_t count = 0; count < element.size; ++count)
|
|
{
|
|
for (auto & property : element.properties)
|
|
{
|
|
auto cursorIt = userData.find(make_key(element.name, property.name));
|
|
if (cursorIt != userData.end())
|
|
{
|
|
auto & helper = cursorIt->second;
|
|
if (!firstPass)
|
|
{
|
|
if (property.isList)
|
|
{
|
|
size_t listSize = 0;
|
|
size_t dummyCount = 0;
|
|
read(property.listType, &listSize, dummyCount, is);
|
|
for (size_t i = 0; i < listSize; ++i)
|
|
{
|
|
read(property.propertyType, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset, is);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
read(property.propertyType, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset, is);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
helper.cursor->totalSizeBytes += skip(property, is);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
skip(property, is);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Reset istream reader to the beginning
|
|
if (firstPass) is.seekg(start, is.beg);
|
|
}
|
|
|
|
///////////////////////////////////
|
|
// Pass-Through Public Interface //
|
|
///////////////////////////////////
|
|
|
|
PlyFile::PlyFile() { impl.reset(new PlyFileImpl()); };
|
|
PlyFile::~PlyFile() { };
|
|
bool PlyFile::parse_header(std::istream & is) { return impl->parse_header(is); }
|
|
void PlyFile::read(std::istream & is) { return impl->read(is); }
|
|
void PlyFile::write(std::ostream & os, bool isBinary) { return impl->write(os, isBinary); }
|
|
std::vector<PlyElement> PlyFile::get_elements() const { return impl->elements; }
|
|
std::vector<std::string> & PlyFile::get_comments() { return impl->comments; }
|
|
std::vector<std::string> PlyFile::get_info() const { return impl->objInfo; }
|
|
std::shared_ptr<PlyData> PlyFile::request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys)
|
|
{
|
|
return impl->request_properties_from_element(elementKey, propertyKeys);
|
|
}
|
|
void PlyFile::add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)
|
|
{
|
|
return impl->add_properties_to_element(elementKey, propertyKeys, type, count, data, listType, listCount);
|
|
}
|