diff --git a/pcd-loader.cabal b/pcd-loader.cabal --- a/pcd-loader.cabal +++ b/pcd-loader.cabal @@ -1,5 +1,5 @@ name: pcd-loader -version: 0.2.3.2 +version: 0.3.0.0 synopsis: PCD file loader. description: Parser for PCD (point cloud data) formats. See @@ -12,17 +12,18 @@ category: Robotics,Graphics build-type: Simple cabal-version: >=1.10 +extra-source-files: tests/SampleLoad.hs, tests/SampleData.hs source-repository head type: git location: git://github.com/acowley/pcd-loader.git library - exposed-modules: PCD.Data, PCD.Header, PCD.Internal.Types, - PCD.Internal.StorableFieldType + exposed-modules: PCD.Data, PCD.Header, PCD.Conversion, PCD.Internal.Types, + PCD.Internal.StorableFieldType, PCD.Internal.AsciiParsers ghc-options: -O2 -Wall hs-source-dirs: src - build-depends: base >= 4.6 && < 5, text, mtl, lens, vector, bytestring, + build-depends: base >= 4.5 && < 5, text, mtl, lens, vector, bytestring, attoparsec, binary, deepseq, linear default-language: Haskell2010 @@ -30,6 +31,15 @@ hs-source-dirs: src/executable main-is: Main.hs ghc-options: -O2 -Wall - build-depends: base >= 4.6 && < 5, pcd-loader + build-depends: base >= 4.5 && < 5, pcd-loader default-language: Haskell2010 +test-suite tests + type: exitcode-stdio-1.0 + hs-source-dirs: tests + main-is: SampleLoad.hs + ghc-options: -Wall -O2 + default-language: Haskell2010 + build-depends: base >= 4.5 && < 5, + test-framework, test-framework-hunit, HUnit, + vector, lens, text, directory, string-qq, pcd-loader diff --git a/src/PCD/Conversion.hs b/src/PCD/Conversion.hs new file mode 100644 --- /dev/null +++ b/src/PCD/Conversion.hs @@ -0,0 +1,31 @@ +-- |Facility to convert an ASCII PCD file to a Binary one. +module PCD.Conversion where +import Control.Lens ((^.), (.~)) +import Control.Monad (when) +import qualified Data.Text.IO as T +import qualified Data.Vector as B +import Foreign.Marshal.Alloc (allocaBytes) +import System.IO (IOMode(..), openFile, hClose, hPutBuf, withBinaryFile) + +import PCD.Header +import qualified PCD.Internal.AsciiParsers as A +import PCD.Internal.StorableFieldType (pokeBinaryPoints) + +-- |@asciiToBinary inputFile outputFile@ converts a PCD file from +-- ASCII to Binary. +asciiToBinary :: FilePath -> FilePath -> IO () +asciiToBinary i o = do h <- openFile i ReadMode + (pcdh,_) <- readHeader h + print pcdh + when (pcdh^.format /= ASCII) + (error "Input PCD is already binary!") + let numBytes = totalBinarySize pcdh + putStrLn $ "Expecting to generate "++show numBytes++" bytes" + v <- A.readPointsDefault pcdh h + putStrLn $ "Parsed "++show (B.length v)++" ASCII points" + hClose h + T.writeFile o (writeHeader (format .~ Binary $ pcdh)) + withBinaryFile o AppendMode $ \h' -> + allocaBytes numBytes $ \ptr -> + pokeBinaryPoints ptr v >> + hPutBuf h' ptr numBytes diff --git a/src/PCD/Data.hs b/src/PCD/Data.hs --- a/src/PCD/Data.hs +++ b/src/PCD/Data.hs @@ -1,21 +1,20 @@ -{-# LANGUAGE ScopedTypeVariables, BangPatterns #-} --- |Parser for PCD (point cloud data) files. Also provides a facility --- for converting from ASCII to binary formatted point data. -module PCD.Data (FieldType(..), unsafeUnwrap, loadAllFields, - loadXyzw, loadXyz, asciiToBinary, saveBinaryPcd, - projectBinaryFields, mkSimpleHeader, mkHeaderXYZ) where +{-# LANGUAGE ScopedTypeVariables #-} +-- |Parser for PCD (point cloud data) files. +module PCD.Data (-- * Accessing fields + FieldType(..), unsafeUnwrap, + -- * Loading PCD data + loadFieldsByName, loadFlexiblePoints, loadXyzw, loadXyz, + -- * Saving PCD data + saveBinaryPcd, projectBinaryFields, + -- * PCD header creation + mkSimpleHeader, mkHeaderXYZ) where import Control.Applicative import Control.DeepSeq import Control.Lens ((.~), (^.)) -import Control.Monad (when) -import Data.Attoparsec.Text hiding (I) import qualified Data.Attoparsec.Text.Lazy as ATL import Data.Text (Text) -import qualified Data.Text.Lazy.IO as TL import qualified Data.Text.IO as T import qualified Data.Vector as B -import qualified Data.Vector.Generic as G -import qualified Data.Vector.Generic.Mutable as GM import qualified Data.Vector.Storable as V import qualified Data.Vector.Storable.Mutable as VM import Foreign.Marshal.Alloc (allocaBytes) @@ -23,35 +22,14 @@ import System.IO (Handle, openFile, hClose, IOMode(..), withBinaryFile, hPutBuf, hGetBuf) import PCD.Header +import qualified PCD.Internal.AsciiParsers as A import PCD.Internal.StorableFieldType import PCD.Internal.Types --- |Read point data using a user-supplied ASCII point parser. -readAsciiPoints :: (G.Vector v a) => - Header -> Handle -> ATL.Parser a -> IO (v a) -readAsciiPoints pcd h p = aux <$> TL.hGetContents h - where n = fromIntegral $ pcd^.points - aux t0 = G.create $ - do v <- GM.new n - let write = GM.write v - go !i !t - | i == n = return v - | otherwise = case ATL.parse p t of - ATL.Done !t' !pt -> write i pt >> - go (i+1) t' - ATL.Fail _ _ msg -> error msg - go 0 t0 - --- |Load points of unknown dimension into a boxed vector with a list --- of 'FieldType' as the point representation. -readAsciiPointsDefault :: Header -> Handle -> IO (B.Vector (B.Vector FieldType)) -readAsciiPointsDefault pcd h = readAsciiPoints pcd h $ - B.fromList <$> pointParser pcd - -- |Read back 'Storable' points saved as binary data. -readHomogenousBinaryPoints :: forall a. Storable a => +readStorableBinaryPoints :: forall a. Storable a => Header -> Handle -> IO (Either String (Vector a)) -readHomogenousBinaryPoints pcd h +readStorableBinaryPoints pcd h | ptSize /= sz = return . Left $ "Deserialization type is not the same size as the points "++ "described by this file. The PCD file dicates "++ @@ -71,20 +49,9 @@ readPointData :: Storable a => Header -> Handle -> ATL.Parser a -> IO (Either String (Vector a)) -readPointData hd h pa - | hd^.format == ASCII = readAsciiPoints hd h pa >>= return . Right - | otherwise = readHomogenousBinaryPoints hd h - --- |Parse 3D points serialized in ASCII. -readXYZ_ascii :: Fractional a => ATL.Parser (V3 a) -readXYZ_ascii = (\[x,y,z] -> V3 x y z) <$> - count 3 ((realToFrac <$> double) <* skipSpace) - --- |Parse 4D points serialized to ASCII. This is useful for points --- with X,Y,Z, and RGB fields each represented by a single float. -readXYZW_ascii :: Fractional a => ATL.Parser (V4 a) -readXYZW_ascii = (\[x,y,z,w] -> V4 x y z w) <$> - count 4 ((realToFrac <$> double) <* skipSpace) +readPointData header handle parser + | header^.format == ASCII = Right <$> A.readPoints header handle parser + | otherwise = readStorableBinaryPoints header handle -- |Use an existing PCD header to save binary point data to a -- file. The supplied header is used as-is, except that its format is @@ -99,26 +66,12 @@ withBinaryFile outputFile AppendMode $ \h -> V.unsafeWith pts (flip (hPutBuf h) sz) --- |@asciiToBinary inputFile outputFile@ converts a PCD file from --- ASCII to Binary. -asciiToBinary :: FilePath -> FilePath -> IO () -asciiToBinary i o = do h <- openFile i ReadMode - (pcdh,_) <- readHeader h - pcdh `deepseq` print pcdh - when (pcdh^.format /= ASCII) - (error "Input PCD is already binary!") - let numBytes = totalBinarySize pcdh - putStrLn $ "Expecting to generate "++show numBytes++" bytes" - v <- readAsciiPointsDefault pcdh h - putStrLn $ "Parsed "++show (B.length v)++" ASCII points" - hClose h - T.writeFile o (writeHeader (format .~ Binary $ pcdh)) - withBinaryFile o AppendMode $ \h' -> - allocaBytes numBytes $ \ptr -> - pokeBinaryPoints ptr v >> - hPutBuf h' ptr numBytes - --- |Save a binary PCD file including only the named fields. +-- |Save a binary PCD file including only the named fields. This is +-- useful when you have a PCD file that has more fields for each point +-- than you care about. For instance, you may wish to extract just the +-- \"x\", \"y\", and \"z\" fields for each point. This can be +-- accomplished using, @projectBinaryFields [\"x\", \"y\", \"z\"] +-- inputFile outputFile@. projectBinaryFields :: [Text] -> FilePath -> FilePath -> IO () projectBinaryFields fs i o = do h <- openFile i ReadMode @@ -142,7 +95,10 @@ -- |Load points stored in a PCD file into a 'Vector'. This requires a -- 'Storable' instance for the type used to represent a point. If the -- point is a monotyped collection of fields, consider using --- 'Linear.V2.V2' or 'Linear.V3.V3' to represent points. +-- 'Linear.V2', 'Linear.V3', or 'Linear.V4' to represent points. When +-- using a representation from the @linear@ package, you may wish to +-- use 'loadXyz' or 'loadXyzw' which can handle ASCII and Binary +-- serializations of 3D or 4D points. loadPoints :: Storable a => ATL.Parser a -> FilePath -> IO (Vector a) loadPoints parser pcdFile = do h <- openFile pcdFile ReadMode (pcdh,_) <- readHeader h @@ -153,7 +109,7 @@ -- |Read a PCD file consisting of floating point XYZ coordinates for -- each point. loadXyz :: (Fractional a, Storable a) => FilePath -> IO (Vector (V3 a)) -loadXyz = loadPoints readXYZ_ascii +loadXyz = loadPoints A.readXYZ {-# SPECIALIZE loadXyz :: FilePath -> IO (Vector (V3 Float)) #-} {-# SPECIALIZE loadXyz :: FilePath -> IO (Vector (V3 Double)) #-} @@ -161,26 +117,25 @@ -- each point (where the final \"W\" field may be an RGB triple -- encoded as a float). loadXyzw :: (Fractional a, Storable a) => FilePath -> IO (Vector (V4 a)) -loadXyzw = loadPoints readXYZW_ascii +loadXyzw = loadPoints A.readXYZW {-# SPECIALIZE loadXyzw :: FilePath -> IO (Vector (V4 Float)) #-} {-# SPECIALIZE loadXyzw :: FilePath -> IO (Vector (V4 Double)) #-} +-- |Load a 'B.Vector' of points, each represented as a 'B.Vector' of +-- 'FieldType' fields. If you wish to use field names to access to the +-- data, consider using 'loadFieldsByName'. loadFlexiblePoints :: Header -> Handle -> IO (B.Vector (B.Vector FieldType)) loadFlexiblePoints pcdh h | pcdh ^. format == Binary = parseBinaryPoints pcdh h - | otherwise = readAsciiPointsDefault pcdh h + | otherwise = A.readPointsDefault pcdh h -- |Parse every field of every point in a PCD file. Returns a function -- that may be used to project out a named field. -loadAllFields :: FilePath -> IO (Text -> B.Vector FieldType) -loadAllFields f = do h <- openFile f ReadMode - (pcdh,_) <- readHeader h - (mkProjector pcdh <$> - if pcdh ^. format == ASCII - then readAsciiPoints pcdh h - (B.fromList <$> pointParser pcdh) - else parseBinaryPoints pcdh h) - <* hClose h +loadFieldsByName :: FilePath -> IO (Text -> B.Vector FieldType) +loadFieldsByName f = do h <- openFile f ReadMode + (pcdh,_) <- readHeader h + (mkProjector pcdh <$> loadFlexiblePoints pcdh h) + <* hClose h where mkProjector :: Header -> B.Vector (B.Vector FieldType) -> (Text -> B.Vector FieldType) mkProjector h pts = let fieldNames = B.fromList $ h ^. fields diff --git a/src/PCD/Header.hs b/src/PCD/Header.hs --- a/src/PCD/Header.hs +++ b/src/PCD/Header.hs @@ -124,7 +124,8 @@ -- |Make a PCD header for a monotyped vector point -- type. @mkSimpleHeader fields (type,sz) n@ prepares a 'Header' for -- @n@ points with field names @fields@, field type given by @type@, --- and field size given by @sz@. Example to save 1000 3D points: +-- and field size given by @sz@. Example to save 1000 3D points using +-- a single-precision floating point number (4 bytes) for each field: -- -- > mkSimpleHeader ["x","y","z"] (F,4) 1000 mkSimpleHeader :: [Text] -> (DimType,Int) -> Int -> Header diff --git a/src/PCD/Internal/AsciiParsers.hs b/src/PCD/Internal/AsciiParsers.hs new file mode 100644 --- /dev/null +++ b/src/PCD/Internal/AsciiParsers.hs @@ -0,0 +1,46 @@ +{-# LANGUAGE BangPatterns #-} +module PCD.Internal.AsciiParsers where +import Control.Applicative +import Control.Lens ((^.)) +import Data.Attoparsec.Text (double, count, skipSpace) +import qualified Data.Attoparsec.Text.Lazy as ATL +import qualified Data.Text.Lazy.IO as TL +import qualified Data.Vector as B +import qualified Data.Vector.Generic as G +import qualified Data.Vector.Generic.Mutable as GM +import System.IO (Handle) + +import PCD.Header (Header, FieldType, pointParser, points) +import PCD.Internal.Types (V3(..), V4(..)) + +-- |Read point data using a user-supplied ASCII point parser. +readPoints :: (G.Vector v a) => + Header -> Handle -> ATL.Parser a -> IO (v a) +readPoints pcd h p = aux <$> TL.hGetContents h + where n = fromIntegral $ pcd^.points + aux t0 = G.create $ + do v <- GM.new n + let write = GM.write v + go !i !t + | i == n = return v + | otherwise = case ATL.parse p t of + ATL.Done !t' !pt -> write i pt >> + go (i+1) t' + ATL.Fail _ _ msg -> error msg + go 0 t0 + +-- |Load points of arbitrary dimension into a boxed vector with a +-- 'B.Vector' of 'FieldType' as the point representation. +readPointsDefault :: Header -> Handle -> IO (B.Vector (B.Vector FieldType)) +readPointsDefault pcd h = readPoints pcd h $ B.fromList <$> pointParser pcd + +-- |Parse 3D points serialized in ASCII. +readXYZ :: Fractional a => ATL.Parser (V3 a) +readXYZ = (\[x,y,z] -> V3 x y z) <$> + count 3 ((realToFrac <$> double) <* skipSpace) + +-- |Parse 4D points serialized to ASCII. This is useful for points +-- with X,Y,Z, and RGB fields each represented by a single float. +readXYZW :: Fractional a => ATL.Parser (V4 a) +readXYZW = (\[x,y,z,w] -> V4 x y z w) <$> + count 4 ((realToFrac <$> double) <* skipSpace) diff --git a/src/executable/Main.hs b/src/executable/Main.hs --- a/src/executable/Main.hs +++ b/src/executable/Main.hs @@ -1,7 +1,8 @@ {-# LANGUAGE OverloadedStrings #-} module Main (main) where import System.Environment (getArgs) -import PCD.Data (asciiToBinary, projectBinaryFields) +import PCD.Conversion (asciiToBinary) +import PCD.Data (projectBinaryFields) data Args = Args { _inputFile :: FilePath , _outputFile :: FilePath diff --git a/tests/SampleData.hs b/tests/SampleData.hs new file mode 100644 --- /dev/null +++ b/tests/SampleData.hs @@ -0,0 +1,232 @@ +{-# LANGUAGE OverloadedStrings, QuasiQuotes #-} +-- |Sample PCD file from http://pointclouds.org/documentation/tutorials/pcd_file_format.php +module SampleData where +import Data.String.QQ +import Data.Text (Text) + +sampleData :: Text +sampleData = [s| +# .PCD v.7 - Point Cloud Data file format +VERSION .7 +FIELDS x y z rgb +SIZE 4 4 4 4 +TYPE F F F F +COUNT 1 1 1 1 +WIDTH 213 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 213 +DATA ascii +0.93773 0.33763 0 4.2108e+06 +0.90805 0.35641 0 4.2108e+06 +0.81915 0.32 0 4.2108e+06 +0.97192 0.278 0 4.2108e+06 +0.944 0.29474 0 4.2108e+06 +0.98111 0.24247 0 4.2108e+06 +0.93655 0.26143 0 4.2108e+06 +0.91631 0.27442 0 4.2108e+06 +0.81921 0.29315 0 4.2108e+06 +0.90701 0.24109 0 4.2108e+06 +0.83239 0.23398 0 4.2108e+06 +0.99185 0.2116 0 4.2108e+06 +0.89264 0.21174 0 4.2108e+06 +0.85082 0.21212 0 4.2108e+06 +0.81044 0.32222 0 4.2108e+06 +0.74459 0.32192 0 4.2108e+06 +0.69927 0.32278 0 4.2108e+06 +0.8102 0.29315 0 4.2108e+06 +0.75504 0.29765 0 4.2108e+06 +0.8102 0.24399 0 4.2108e+06 +0.74995 0.24723 0 4.2108e+06 +0.68049 0.29768 0 4.2108e+06 +0.66509 0.29002 0 4.2108e+06 +0.69441 0.2526 0 4.2108e+06 +0.62807 0.22187 0 4.2108e+06 +0.58706 0.32199 0 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V +import System.Directory (getTemporaryDirectory) +import System.IO (openTempFile, hClose, hSeek, SeekMode(..)) +import Test.Framework (defaultMain) +import Test.Framework.Providers.HUnit (hUnitTestToTests) +import Test.HUnit (Test(..), (~?), (~=?)) + +import SampleData +import PCD.Data +import PCD.Header + +testLen :: Header -> V.Vector (V.Vector FieldType) -> Test +testLen header pts = TestLabel "Number of fields" $ + TestList [ 4 ~=? length (header^.fields) + , 4 ~=? V.length (V.head pts) ] + +testPts :: Header -> V.Vector a -> Test +testPts header pts = TestLabel "Number of points" $ + TestList [ 213 ~=? header^.points + , 213 ~=? V.length pts ] + +within :: (Num a, Ord a) => a -> a -> a -> Bool +within delta x y = abs (y - x) < delta + +testData :: V.Vector (V.Vector FieldType) -> Test +testData pts = TestLabel "Point data" $ + TestList [ within 0.001 (-0.23729) lastY ~? + "Last point's Y coordinate" ] + where lastY = unsafeUnwrap (V.last pts V.! 1) :: Float + +main :: IO () +main = do d <- getTemporaryDirectory + (_, h) <- openTempFile d "pcdTest" + T.hPutStr h sampleData + hSeek h AbsoluteSeek 0 + (header, _) <- readHeader h + pts <- loadFlexiblePoints header h + defaultMain . hUnitTestToTests $ + TestList [testLen header pts, testPts header pts, testData pts] + hClose h