[field match]How to get whether a field is valid？

[QiuYilin]

If I load a cloudxyz file as cloudxyzi, I want to explicitly warn at the software level.

I found that PCL will print this warning in the terminal but has removed this exception，and I didn't find a function to simply judge fields in pcl::io.

      FieldMapper (const std::vector<pcl::PCLPointField>& fields,
                   std::vector<FieldMapping>& map)
        : fields_ (fields), map_ (map)
      {
      }

      template<typename Tag> void
      operator () ()
      {
        for (const auto& field : fields_)
        {
          if (FieldMatches<PointT, Tag>()(field))
          {
            FieldMapping mapping;
            mapping.serialized_offset = field.offset;
            mapping.struct_offset = pcl::traits::offset<PointT, Tag>::value;
            mapping.size = sizeof (typename pcl::traits::datatype<PointT, Tag>::type);
            map_.push_back (mapping);
            return;
          }
        }
        // Disable thrown exception per #595: http://dev.pointclouds.org/issues/595
        PCL_WARN ("Failed to find match for field '%s'.\n", pcl::traits::name<PointT, Tag>::value);
        //throw pcl::InvalidConversionException (ss.str ());
      }

Is there any easy way to check the field, or redirect the content of pcl::console?

[mvieth]

One way could be to load the file as a pcl::PCLPointCloud2 instead, check its fields attribute, then convert to pcl::PointCloud<pcl::PointXYZ>. See: https://github.com/PointCloudLibrary/pcl/blob/master/io/include/pcl/io/pcd_io.h#L279 https://pointclouds.org/documentation/structpcl_1_1_p_c_l_point_cloud2.html

[QiuYilin]

I think that the memory structures of PointCloud2 and PointXYZ are different, and the conversion will cause unnecessary time consumption. It may be better to provide an additional tool function.

[mvieth]

The conversion happens anyway. If you load the file into a pcl::PointCloud<pcl::PointXYZ, the conversion just happens internally in PCDReader (see the first link I provided). What I described does not cause any additional time consumption, it only gives you access to the intermediate pcl::PCLPointCloud2.

[QiuYilin]

get