Linergbd loadtemplates fix

[truhoang]

Fix for #3887

[kunaltyagi]

Writing to filesystem doesn't seem necessary in this case. Why did you choose this over reading the body in binary format?

[truhoang]

This seems like a 1 time cost at the beginning of the code and avoid any issue with parsing the header. Another is we can avoid loading the binary into PointCloud2 then to PointCloud<PointT> when loading the PCD portions of the LTM

[truhoang]

macOS builds are failing with the same errors as #2601. I thought #3736 addressed these?

[kunaltyagi]

It's a new issue with Apple every month. Don't worry about MacOS CI for now

[kunaltyagi]

@PointCloudLibrary/maintainers feedback needed on replacement of reading tar with extracting it externally and reading the extracted files.

[SergioRAgostinho]

@PointCloudLibrary/maintainers feedback needed on replacement of reading tar with extracting it externally and reading the extracted files.

The fix you're providing is relying on the existence of tar as a command line tool. Windows users will love you (sarcasm). If you want to side-step tar extraction, the proper way to handle it is to accept loading PCD files individually additionally to the .ltm file, but you should not erase the current implementation which tries to extract the tar contents and (supposedly should) works cross platform.

[truhoang]

@SergioRAgostinho that depends on what's included in the LTM. Based on the original author's code, I deduced the LTM contains both the SQMMT and PCDs of the object point clouds. Without extract the LTM using tar how can we get access to the PCD files?

[SergioRAgostinho]

@SergioRAgostinho that depends on what's included in the LTM. Based on the original author's code, I deduced the LTM contains both the SQMMT and PCDs of the object point clouds.

Then accepts a vector of paths to both types of files as an argument.

Without extract the LTM using tar how can we get access to the PCD files?

I am asking to implement a method which takes a vector of PCD and SQMMT files as an overload/alternative to the method which tries to read them directly from a tar archive. This allows the user to use tar or other unarchiving tool to extract the files as a first step before executing any code. Once the files are out pass all the files into your application as command line arguments.

It won't fix the buggy tar reading feature but it will be a solution that is cross platform and leaves the current code intact so that other users can actually try to properly fix it at some point.

[truhoang]

OK, I'll revise my fix and leave the old implementation as is

[kunaltyagi]

Are you working on this? Your last statement was a big ambiguous wrt the status of the PR

[truhoang]

@kunaltyagi I'm still working on it. Been tied up at work. Gonna try to debug the Stefan's implementation to see what's going on

[stale]

Marking this as stale due to 30 days of inactivity. Commenting or adding a new commit to the pull request will revert this.

[truhoang]

Implemented 2 loading methods to circumvent TAR issues in loadTemplates as suggested by @SergioRAgostinho

[kunaltyagi]

Use Eigen here

[stale]

Marking this as stale due to 30 days of inactivity. Commenting or adding a new commit to the pull request will revert this.