Method write

io/src/ifs_io.cpp:332–414

//////////////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::IFSWriter::write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const std::string& cloud_name)
{
  if (cloud.data.empty ())
  {
    PCL_ERROR ("[pcl::IFSWriter::write] Input point cloud has no data!\n");
    return (-1);
  }

  if (!cloud.is_dense)
  {
    PCL_ERROR ("[pcl::IFSWriter::write] Non dense cloud are not allowed by IFS format!\n");
    return (-1);
  }

  const std::string magic = "IFS";
  const float version = 1.0f;
  const std::string vertices = "VERTICES";
  std::vector<char> header (sizeof (std::uint32_t) + magic.size () + 1 +
                            sizeof (float) +
                            sizeof (std::uint32_t) + cloud_name.size () + 1 +
                            sizeof (std::uint32_t) + vertices.size () + 1 +
                            sizeof (std::uint32_t));
  char* addr = header.data();
  const std::uint32_t magic_size = static_cast<std::uint32_t> (magic.size ()) + 1;
  memcpy (addr, &magic_size, sizeof (std::uint32_t));
  addr+= sizeof (std::uint32_t);
  memcpy (addr, magic.c_str (), magic_size * sizeof (char));
  addr+= magic_size * sizeof (char);
  memcpy (addr, &version, sizeof (float));
  addr+= sizeof (float);
  const std::uint32_t cloud_name_size = static_cast<std::uint32_t> (cloud_name.size ()) + 1;
  memcpy (addr, &cloud_name_size, sizeof (std::uint32_t));
  addr+= sizeof (std::uint32_t);
  memcpy (addr, cloud_name.c_str (), cloud_name_size * sizeof (char));
  addr+= cloud_name_size * sizeof (char);
  const std::uint32_t vertices_size = static_cast<std::uint32_t> (vertices.size ()) + 1;
  memcpy (addr, &vertices_size, sizeof (std::uint32_t));
  addr+= sizeof (std::uint32_t);
  memcpy (addr, vertices.c_str (), vertices_size * sizeof (char));
  addr+= vertices_size * sizeof (char);
  const std::uint32_t nb_vertices = cloud.data.size () / cloud.point_step;
  memcpy (addr, &nb_vertices, sizeof (std::uint32_t));
  /*addr+= sizeof (std::uint32_t);*/

  std::size_t data_idx = header.size ();

  boost::iostreams::mapped_file_sink sink;
  boost::iostreams::mapped_file_params params;
  params.path = file_name;
  params.flags = boost::iostreams::mapped_file_base::readwrite;
  params.offset = 0;
  params.new_file_size = data_idx + cloud.data.size ();
  params.length = data_idx + cloud.data.size ();

  try
  {
    sink.open (params);