[pdal-commits] [PDAL/PDAL] af7831: Move PCL IO from plugin to native; initial commit ...

[chambbj]

  Branch: refs/heads/pcd-io
  Home:   https://github.com/PDAL/PDAL
  Commit: af7831cecc0f9bb89ed0361d4e2a65e268a16b8d
      https://github.com/PDAL/PDAL/commit/af7831cecc0f9bb89ed0361d4e2a65e268a16b8d
  Author: Bradley J Chambers <brad.chambers at gmail.com>
  Date:   2019-07-18 (Thu, 18 Jul 2019)

  Changed paths:
    A io/PcdCommon.hpp
    A io/PcdHeader.cpp
    A io/PcdHeader.hpp
    A io/PcdReader.cpp
    A io/PcdReader.hpp
    A io/PcdWriter.cpp
    A io/PcdWriter.hpp
    A io/point_types.hpp
    R plugins/pcl/io/PcdCommon.hpp
    R plugins/pcl/io/PcdHeader.cpp
    R plugins/pcl/io/PcdHeader.hpp
    R plugins/pcl/io/PcdReader.cpp
    R plugins/pcl/io/PcdReader.hpp
    R plugins/pcl/io/PcdWriter.cpp
    R plugins/pcl/io/PcdWriter.hpp
    R plugins/pcl/io/point_types.hpp

  Log Message:
  -----------
  Move PCL IO from plugin to native; initial commit of ASCII reader


  Commit: 858ccfe4665144eab78b8334f99872b63c614248
      https://github.com/PDAL/PDAL/commit/858ccfe4665144eab78b8334f99872b63c614248
  Author: Bradley J Chambers <brad.chambers at gmail.com>
  Date:   2019-07-18 (Thu, 18 Jul 2019)

  Changed paths:
    M doc/stages/readers.pcd.rst
    M doc/stages/writers.pcd.rst
    R io/PcdCommon.hpp
    M io/PcdHeader.cpp
    M io/PcdHeader.hpp
    M io/PcdReader.cpp
    M io/PcdReader.hpp
    M io/PcdWriter.cpp
    M io/PcdWriter.hpp
    M plugins/pcl/CMakeLists.txt

  Log Message:
  -----------
  Add native PCD I/O

- Supports reading and writing ASCII
- Supports reading and writing binary
- Readers are streamable, while writers are not
- Does NOT yet support binary compressed
- Removes need for PcdCommon header

A note about the PCD writer. Similar to other writers, the PCD writer can
output a subset of the dimensions if keep_unspecified is set to false. In that
case, only the dimensions specified in the order parameter are written in the
output. The dimension type ("F", "I", or "U") and size (in bytes) can also be
specified, along with precision in the case of ASCII output.

This native driver for PCD will remove a long-standing issue with the previous
PCL-backed drivers, which required a conversion to a fixed, single-precision
point schema, that resulted in loss of extra dimensions (beyond XYZRGBA) and
confusion surrounding subtraction of offsets to avoid loss of precision for
certain coordinate systems.


Compare: https://github.com/PDAL/PDAL/compare/23f65eb56280...858ccfe46651