Merge pull request #984 from JuliaRobotics/23Q3/refac/lasioext

LasIOExt

Author: dehann

Project.toml

@@ -32,7 +32,6 @@ JSON = "682c06a0-de6a-54ab-a142-c8b1cf79cde6"
 JSON2 = "2535ab7d-5cd8-5a07-80ac-9b1792aadce3"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
-LasIO = "570499db-eae3-5eb6-bdd5-a5326f375e68"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
 MultivariateStats = "6f286f6a-111f-5878-ab1e-185364afe411"
@@ -61,13 +60,15 @@ AprilTags = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
 ImageFeatures = "92ff4b2b-8094-53d3-b29d-97f740f06cef"
 ImageMagick = "6218d12a-5da1-5696-b52f-db25d2ecc6d1"
 Images = "916415d5-f1e6-5110-898d-aaa5f9f070e0"
+LasIO = "570499db-eae3-5eb6-bdd5-a5326f375e68"
 ZMQ = "c2297ded-f4af-51ae-bb23-16f91089e4e1"
 
 [extensions]
 CaesarAprilTagsExt = "AprilTags"
 CaesarImageFeaturesExt = "ImageFeatures"
 CaesarImageMagickExt = "ImageMagick"
 CaesarImagesExt = "Images"
+CaesarLasIOExt = "LasIO"
 CaesarZMQExt = "ZMQ"
 
 [compat]
@@ -128,4 +129,4 @@ RobotOS = "22415677-39a4-5241-a37a-00beabbbdae8"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["AprilTags", "BSON", "DelimitedFiles", "Downloads", "GraphPlot", "Images", "PyCall", "Random", "RobotOS", "Test", "ZMQ"]
+test = ["AprilTags", "BSON", "DelimitedFiles", "Downloads", "GraphPlot", "Images", "LasIO", "PyCall", "Random", "RobotOS", "Test", "ZMQ"]

ext/CaesarLasIOExt.jl

@@ -0,0 +1,14 @@
+module CaesarLasIOExt
+
+using LasIO
+using FileIO
+using Dates
+using StaticArrays
+
+import Caesar._PCL as _PCL
+
+import Caesar: loadLAS, saveLAS
+
+include("services/LasIOSupport.jl")
+
+end

ext/WeakdepsPrototypes.jl

@@ -94,6 +94,11 @@ export fetchDataImage
 function toFormat end
 function fetchDataImage end
 
+## ==============================================
+# LasIO
+
+function loadLAS end
+function saveLAS end
 
 ## ==============================================
 # CaesarZMQExt prototypes

src/3rdParty/_PCL/services/LasIOSupport.jl renamed to ext/services/LasIOSupport.jl

@@ -25,15 +25,15 @@ function loadLAS(
     RGB(pnt.red, pnt.green, pnt.blue)
   end
 
-  colored_points = PointXYZ.(colors, pts)
-  return PointCloud(;points=colored_points, width=UInt32(length(colored_points)), height=UInt32(1))
+  colored_points = _PCL.PointXYZ.(colors, pts)
+  return _PCL.PointCloud(;points=colored_points, width=UInt32(length(colored_points)), height=UInt32(1))
 end
 
 
 # TODO, make save LAS
 function saveLAS(
   filepath::Union{<:AbstractString, <:Stream},
-  pc::PointCloud;
+  pc::_PCL.PointCloud;
   scale=1000
 )
 

src/3rdParty/_PCL/_PCL.jl

@@ -27,7 +27,6 @@ using DistributedFactorGraphs
 using TensorCast
 using UUIDs
 using MultivariateStats
-using LasIO
 
 # FIXME REMOVE, only used for legacy getDataPointCloud
 using Serialization 
@@ -53,7 +52,6 @@ include("entities/PCLTypes.jl")
 # bring in further source code
 include("services/GeomBasicsUtils.jl")
 include("services/PointCloud.jl")
-include("services/LasIOSupport.jl")
 include("services/PointCloudUtils.jl")
 include("services/ConsolidateRigidTransform.jl")
 include("services/ICP_Simple.jl")

test/pcl/testPointCloud2.jl

@@ -18,7 +18,10 @@ using Pkg
 using Downloads
 using DelimitedFiles
 
+using LasIO
+
 # import Caesar._PCL: FieldMapper, createMapping, PointCloud, PointField, PCLPointCloud2, Header, asType, _PCL_POINTFIELD_FORMAT, FieldMapping, MsgFieldMap, FieldMatches
+
 ##
 
 @info "download any necessary test data"
@@ -32,16 +35,21 @@ function downloadTestData(datafile, url)
   return datafile
 end
 
-testdatafolder = "/tmp/caesar/testdata/"
+testdatafolder = joinpath(tempdir(), "caesar", "testdata") # "/tmp/caesar/testdata/"
+
+radarpclfile = joinpath( testdatafolder,"radar", "convertedRadar", "_PCLPointCloud2_15776.dat")
+radarpcl_url = "https://github.com/JuliaRobotics/CaesarTestData.jl/raw/main/data/radar/convertedRadar/_PCLPointCloud2_15776.dat"
+downloadTestData(radarpclfile,radarpcl_url)
+
+pandarfile = joinpath(testdatafolder,"lidar","simpleICP","_pandar_PCLPointCloud2.jldat")
+pandar_url = "https://github.com/JuliaRobotics/CaesarTestData.jl/raw/main/data/lidar/pandar/_pandar_PCLPointCloud2.jldat"
+downloadTestData(pandarfile,pandar_url)
 
 
 ##
 @testset "test Caesar._PCL.PCLPointCloud2 to Caesar._PCL.PointCloud converter." begin
 ##
 
-radarpclfile = joinpath( testdatafolder,"radar", "convertedRadar", "_PCLPointCloud2_15776.dat")
-radarpcl_url = "https://github.com/JuliaRobotics/CaesarTestData.jl/raw/main/data/radar/convertedRadar/_PCLPointCloud2_15776.dat"
-downloadTestData(radarpclfile,radarpcl_url)
 # testdatafile = joinpath( pkgdir(Caesar), "test", "testdata", "_PCLPointCloud2.bson")
 # load presaved test data to test the coverter
 # BSON.@load testdatafile PointCloudRef PointCloudTest
@@ -131,6 +139,22 @@ pc_ = Caesar._PCL.apply(M, rPc, pc)
 @test isapprox( [1-794.794,561.583,0],  pc_.points[10].data[1:3], atol=5e-3)
 
 
+##
+
+@testset "Test CaesarLasIOExt" begin
+##
+
+testlaspath = joinpath(testdatafolder, "radar", "convertedRadar", "PointCloud_15776.las")
+
+Caesar.saveLAS(testlaspath, pc)
+
+pc_load = Caesar.loadLAS(testlaspath)
+
+show(pc_load)
+
+##
+end
+
 ##
 end
 
@@ -140,11 +164,6 @@ if v"1.7" <= VERSION
 @testset "PandarXT test point cloud conversion test" begin
 ##
 
-pandarfile = joinpath(testdatafolder,"lidar","simpleICP","_pandar_PCLPointCloud2.jldat")
-pandar_url = "https://github.com/JuliaRobotics/CaesarTestData.jl/raw/main/data/lidar/pandar/_pandar_PCLPointCloud2.jldat"
-downloadTestData(pandarfile,pandar_url)
-
-
 # Alternative approach, see more hardcoded test data example (only .data writen to binary) for _PCLPointCloud2_15776.dat"
 @info "Loading testdata/_pandar_PCLPointCloud2.jldat which via `Serialization.serialize` of a `Caesar._PCL.PCLPointCloud2` object, at JL 1.7.3, CJL v0.13.1+" 
 pc2 = Serialization.deserialize(pandarfile)