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Improved obj file parsing efficiency. Make parsing robust against situations where there are more normals than points. Added unit tests. #2450

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merged 7 commits into from
Sep 21, 2018
Merged

Improved obj file parsing efficiency. Make parsing robust against situations where there are more normals than points. Added unit tests. #2450

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e3a7ada
Improved efficiency when reading obj files
pherbers Sep 19, 2018
6723543
Fixed a crash when importing obj files
pherbers Sep 19, 2018
3d34bad
Added a warning if an obj file has too many vertex normals
pherbers Sep 19, 2018
6373d17
Added a test for OBJReader
pherbers Sep 19, 2018
1f0de73
Replaced string operations with array operations in obj parsing
pherbers Sep 20, 2018
e7fbf98
Removed unnessecary string operations in obj parsing
pherbers Sep 20, 2018
4375491
Added some cleanup code for io tests
pherbers Sep 20, 2018
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56 changes: 32 additions & 24 deletions io/src/obj_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -374,7 +374,6 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
// bool material_found = false;
std::vector<std::string> material_files;
std::size_t nr_point = 0;
std::vector<std::string> st;

try
{
Expand All @@ -385,40 +384,42 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
if (line == "")
continue;

// Tokenize the line
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
line = sstream.str ();
// Trim the line
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);

// Ignore comments
if (st.at (0) == "#")
if (line[0] == '#')
continue;

// Vertex
if (st.at (0) == "v")
// Vertex, vertex texture or vertex normal
if (line[0] == 'v')
{
++nr_point;
continue;
}
// Vertex (v)
if ((line[1] == ' ')) {
++nr_point;
continue;
}

// Vertex texture
if ((st.at (0) == "vt") && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}
// Vertex texture (vt)
else if ((line[1] == 't') && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}

// Vertex normal
if ((st.at (0) == "vn") && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
// Vertex normal (vn)
else if ((line[1] == 'n') && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
}
}

// Material library, skip for now!
if (st.at (0) == "mtllib")
if (line.substr (0, 6) == "mtllib")
{
std::vector<std::string> st;
boost::split(st, line, boost::is_any_of("\t\r "), boost::token_compress_on);
material_files.push_back (st.at (1));
continue;
}
Expand Down Expand Up @@ -588,6 +589,13 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
// Vertex normal
if (st[0] == "vn")
{
if (normal_idx >= cloud.width)
{
if (normal_idx == cloud.width)
PCL_WARN ("[pcl:OBJReader] Too many vertex normals (expected %d), skipping remaining normals.\n", cloud.width, normal_idx + 1);
++normal_idx;
continue;
}
try
{
for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
Expand Down
114 changes: 113 additions & 1 deletion test/io/test_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/ascii_io.h>
#include <pcl/io/obj_io.h>
#include <fstream>
#include <locale>
#include <stdexcept>
Expand Down Expand Up @@ -156,6 +157,8 @@ TEST (PCL, ComplexPCDFileASCII)
EXPECT_EQ (val[30], 0);
EXPECT_EQ (val[31], 0);
EXPECT_EQ (val[32], 0);

remove ("complex_ascii.pcd");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -255,6 +258,8 @@ TEST (PCL, AllTypesPCDFile)
EXPECT_FLOAT_EQ (float (b8), -250.05f);
memcpy (&b8, &blob.data[blob.fields[7].offset + sizeof (double)], sizeof (double));
EXPECT_FLOAT_EQ (float (b8), -251.05f);

remove ("all_types.pcd");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -652,6 +657,10 @@ TEST (PCL, IO)
EXPECT_FLOAT_EQ (cloud.points[0].y, first.y); // test for fromPCLPointCloud2 ()
EXPECT_FLOAT_EQ (cloud.points[0].z, first.z); // test for fromPCLPointCloud2 ()
EXPECT_FLOAT_EQ (cloud.points[0].intensity, first.intensity); // test for fromPCLPointCloud2 ()

remove ("test_pcl_io_ascii.pcd");
remove ("test_pcl_io_binary.pcd");
remove ("test_pcl_io.pcd");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -720,6 +729,8 @@ TEST (PCL, PCDReaderWriter)
EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].y, last.y); // test for fromPCLPointCloud2 ()
EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].z, last.z); // test for fromPCLPointCloud2 ()
EXPECT_FLOAT_EQ (cloud.points[nr_p - 1].intensity, last.intensity); // test for fromPCLPointCloud2 ()

remove ("test_pcl_io.pcd");
}

TEST (PCL, PCDReaderWriterASCIIColorPrecision)
Expand Down Expand Up @@ -763,10 +774,13 @@ TEST (PCL, PCDReaderWriterASCIIColorPrecision)
EXPECT_EQ (cloud[i].g, cloud_ascii[i].g);
EXPECT_EQ (cloud[i].b, cloud_ascii[i].b);
}

remove ("temp_binary_color.pcd");
remove ("temp_ascii_color.pcd");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, ASCIIReader)
TEST (PCL, ASCIIRead)
{
PointCloud<PointXYZI> cloud, rcloud;

Expand Down Expand Up @@ -806,6 +820,98 @@ TEST (PCL, ASCIIReader)
EXPECT_FLOAT_EQ(cloud.points[i].intensity, rcloud.points[i].intensity);
}

remove ("test_pcd.txt");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PCL, OBJRead)
{
std::ofstream fs;
fs.open ("test_obj.obj");
fs << "# Blender v2.79 (sub 4) OBJ File: ''\n"
"mtllib test_obj.mtl\n"
"o Cube_Cube.001\n"
"v -1.000000 -1.000000 1.000000\n"
"v -1.000000 1.000000 1.000000\n"
"v -1.000000 -1.000000 -1.000000\n"
"v -1.000000 1.000000 -1.000000\n"
"v 1.000000 -1.000000 1.000000\n"
"v 1.000000 1.000000 1.000000\n"
"v 1.000000 -1.000000 -1.000000\n"
"v 1.000000 1.000000 -1.000000\n"
"vn -1.0000 0.0000 0.0000\n"
"vn 0.0000 0.0000 -1.0000\n"
"vn 1.0000 0.0000 0.0000\n"
"vn 0.0000 0.0000 1.0000\n"
"vn 0.0000 -1.0000 0.0000\n"
"vn 0.0000 1.0000 0.0000\n"
"# Redundant vertex normal to test error handling\n"
"vn 0.0000 0.0000 0.0000\n"
"usemtl None\n"
"s off\n"
"f 1//1 2//1 4//1 3//1\n"
"f 3//2 4//2 8//2 7//2\n"
"f 7//3 8//3 6//3 5//3\n"
"f 5//4 6//4 2//4 1//4\n"
"f 3//5 7//5 5//5 1//5\n"
"f 8//6 4//6 2//6 6//6\n";

fs.close ();
fs.open ("test_obj.mtl");
fs << "# Blender MTL File: 'None'\n"
"# Material Count: 1\n"
"newmtl None\n"
"Ns 0\n"
"Ka 0.000000 0.000000 0.000000\n"
"Kd 0.8 0.8 0.8\n"
"Ks 0.8 0.8 0.8\n"
"d 1\n"
"illum 2\n";

fs.close ();
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pcl::PCLPointCloud2 blob;
pcl::OBJReader objreader = pcl::OBJReader();
int res = objreader.read ("test_obj.obj", blob);
EXPECT_NE (int (res), -1);
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In here you want a result which is specifically 0.

EXPECT_EQ (blob.width, 8);
EXPECT_EQ (blob.height, 1);
EXPECT_EQ (blob.is_dense, true);
EXPECT_EQ (blob.data.size (), 8 * 6 * 4); // 8 verts, 6 values per vertex (vx,vy,vz,vnx,vny,vnz), 4 byte per value

// Check fields
EXPECT_EQ (blob.fields[0].name, "x");
EXPECT_EQ (blob.fields[0].offset, 0);
EXPECT_EQ (blob.fields[0].count, 1);
EXPECT_EQ (blob.fields[0].datatype, pcl::PCLPointField::FLOAT32);

EXPECT_EQ (blob.fields[1].name, "y");
EXPECT_EQ (blob.fields[1].offset, 4 * 1);
EXPECT_EQ (blob.fields[1].count, 1);
EXPECT_EQ (blob.fields[1].datatype, pcl::PCLPointField::FLOAT32);

EXPECT_EQ (blob.fields[2].name, "z");
EXPECT_EQ (blob.fields[2].offset, 4 * 2);
EXPECT_EQ (blob.fields[2].count, 1);
EXPECT_EQ (blob.fields[2].datatype, pcl::PCLPointField::FLOAT32);

EXPECT_EQ (blob.fields[3].name, "normal_x");
EXPECT_EQ (blob.fields[3].offset, 4 * 3);
EXPECT_EQ (blob.fields[3].count, 1);
EXPECT_EQ (blob.fields[3].datatype, pcl::PCLPointField::FLOAT32);

EXPECT_EQ (blob.fields[4].name, "normal_y");
EXPECT_EQ (blob.fields[4].offset, 4 * 4);
EXPECT_EQ (blob.fields[4].count, 1);
EXPECT_EQ (blob.fields[4].datatype, pcl::PCLPointField::FLOAT32);

EXPECT_EQ (blob.fields[5].name, "normal_z");
EXPECT_EQ (blob.fields[5].offset, 4 * 5);
EXPECT_EQ (blob.fields[5].count, 1);
EXPECT_EQ (blob.fields[5].datatype, pcl::PCLPointField::FLOAT32);

remove ("test_obj.obj");
remove ("test_obj.mtl");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -858,6 +964,8 @@ TEST (PCL, ExtendedIO)
ASSERT_EQ (cloud.points[0].histogram[i], i);
ASSERT_EQ (cloud.points[1].histogram[i], 33-i);
}

remove ("v.pcd");
}


Expand Down Expand Up @@ -1057,6 +1165,8 @@ TEST (PCL, LZFExtended)
EXPECT_EQ (cloud2.points[i].normal_z, cloud.points[i].normal_z);
EXPECT_EQ (cloud2.points[i].rgb, cloud.points[i].rgb);
}

remove ("test_pcl_io_compressed.pcd");
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -1202,6 +1312,8 @@ TEST (PCL, Locale)
catch (const std::exception&)
{
}

remove ("test_pcl_io_ascii.pcd");
#endif
}

Expand Down