Is there a specification for the PCD file format? - specifications

Is there an official specification for the point cloud data (PCD) format? Or is it rather only intended for PCL-internal use? The only information I found about it is this which kind of looks like a specification, but it doesn't contain all the information needed.
I might want to write a PCD loader library (independent of PCL), but maybe this is discouraged?

Naturally, PCD files are mostly used in PCL-enabled applications written in C++. However, there are loaders implemented in other languages, for example Python and JavaScript, so it is definitely not just a PCL-internal format.
To my knowledge, there is no official specification besides the one you already linked. And indeed, it is incomplete, for instance the binary_compressed data storage format is not mentioned at all. I would suggest to use the PCL implementation (which is fairly stable) as a reference and resolve any ambiguities in the linked document by checking how the code works.

Related

ebpf: bpf_prog_load() vs bpf_object__load()

I have not used libbpf in a while. Now, when I'm looking at the source code and examples, it looks to me that all API now is built around bpf_object while before it was based on program FD (at least on the user-facing level). I believe that fd is now hidden in bpf_object or such.
Of course it keeps backward compatibility and I still can use bpf_prog_load for example, however it looks like the preferred way of writing application code using libbpf is by bpf_object API?
Correct me if I'm wrong. Thanks!
Sounds mostly correct to me.
Low-Level Wrappers
If I remember correctly, the functions returning file descriptors in libbpf, mostly defined in tools/lib/bpf/bpf.c, have always been very low-level. This is the case for bpf_load_program() for example, which is no more than a wrapper around the bpf() system call for loading programs. Such functions are still available, but their use may be tedious for complex use cases.
bpf_prog_load()
Some more advanced functions have long been provided. bpf_prog_load(), that you mention, is one of them, but it returns an error code, not a file descriptor. It is still available as one option to load programs with the library.
bpf_object__*()
Although I don't think there are strict guidelines, I believe it is true that most example now use the bpf_object__*() function. One reason is that they provide a more consistent user experience, being organised around the manipulation of an object file to extract all the relevant bytecode and metadata, and then to load and attach the program. One other reason, I think, is that since this model has been favoured over the last releases, these functions have better support for recent eBPF features and the bpf_object__*() functions offer features that the older bpf_prog_load() workflow does not support.
Libbpf Evolves
At last, it's worth mentioning that libbpf's API is currently undergoing some review and will likely be reworked as part of a major v1.0 release. You may want to have a look at the work document linked in the announcement: Some bpf_object__ functions may be deprecated, and similarly there is currently a proposal to:
Deprecate bpf_prog_load() and bpf_prog_load_xattr() in favor of bpf_object__open_{mem, file}() and bpf_object__load() combo.
There is nothing certain yet regarding the v1.0 release, so I wouldn't worry too much about “deprecation” at the moment - I don't expect all functions to be removed just yet. But that's something you may want to consider when building your next applications.

what is difference between library file and framework?

I couldn't get clear idea in differences between framework and libraries, can you suggest your idea or refer me any website or article thanks.
Apple's Doc is always a good place to start:
https://developer.apple.com/library/ios/documentation/MacOSX/Conceptual/BPFrameworks/Frameworks.html
In sum, Frameworks are an Apple specific mechanism for packaging dynamic code in a well defined directory structure. Frameworks are a particular type of Bundle which allow for versioning, storing and loading resources (icons, string files). Dynamic libraries provide only the shared module (with the *.dylib extension).
Note, OS X supports both methods, but Frameworks provide a great deal of flexibility both in development, deployment and management and are usually the preferred choice.
Using Frameworks requires compiler/linker specific flags to properly use. You should consult the Clang/XCode documentation.

Audio Messaging Interchange Specification

Audio Messaging Interchange Specification. I am attempting to locate a copy of this rather old specification. Can anyone recommend where I might find this? All my searches have turned up endless references to glossaries but no actual specification.
Here is a start, but admitably it's not the complete specification. Perahps it's enough for your purposes though. There are actually two, AMIS-A (analog) and AMIS-D (digital).

Vork PHP framework

Has anyone used Vork? What has been your experience?
How does it compare to f3 or lithium? I'm building with MongoDB.
Which one performs better?
Due to lack of popularity and the license which is unsuitable for libraries you won't find many users of this framework. So I'll give you a placeholder answer. The performance comparison is out of scope here, and could not be objective or meaningful anyway.
I have no clue about MongoDB (their website is pretty slow, which indicates no immediate benefit of researching it further). But I've glanced over Vork:
In comparison to other frameworks it seems a bit disorganized. The naming of include files sans extension is quite unique and actually charming. But the class and directory structure isn't.
It follows the Pretend-MVC fallacy.
But my biggest concern is that it encourages oldschool SQL concatenation and escaping (and the naming of said escape function looks dated).
The templating API looks interesting, but I did not research that much. (API usability is the crucial part of frameworks, not performance.)
Website doesn't appear very inviting, and this impacts the documentation (which isn't quite complete.)
On the upside, it comes with a lot of utility code. So if you find an intersection of features that you need, then that's a reason to try it out.

Suggestions for Adding Plugin Capability?

Is there a general procedure for programming extensibility capability into your code?
I am wondering what the general procedure is for adding extension-type capability to a system you are writing so that functionality can be extended through some kind of plugin API rather than having to modify the core code of a system.
Do such things tend to be dependent on the language the system was written in, or is there a general method for allowing for this?
I've used event-based APIs for plugins in the past. You can insert hooks for plugins by dispatching events and providing access to the application state.
For example, if you were writing a blogging application, you might want to raise an event just before a new post is saved to the database, and provide the post HTML to the plugin to alter as needed.
This is generally something that you'll have to expose yourself, so yes, it will be dependent on the language your system is written in (though often it's possible to write wrappers for other languages as well).
If, for example, you had a program written in C, for Windows, plugins would be written for your program as DLLs. At runtime, you would manually load these DLLs, and expose some interface to them. For example, the DLLs might expose a gimme_the_interface() function which could accept a structure filled with function pointers. These function pointers would allow the DLL to make calls, register callbacks, etc.
If you were in C++, you would use the DLL system, except you would probably pass an object pointer instead of a struct, and the object would implement an interface which provided functionality (accomplishing the same thing as the struct, but less ugly). For Java, you would load class files on-demand instead of DLLs, but the basic idea would be the same.
In all cases, you'll need to define a standard interface between your code and the plugins, so that you can initialize the plugins, and so the plugins can interact with you.
P.S. If you'd like to see a good example of a C++ plugin system, check out the foobar2000 SDK. I haven't used it in quite a while, but it used to be really well done. I assume it still is.
I'm tempted to point you to the Design Patterns book for this generic question :p
Seriously, I think the answer is no. You can't write extensible code by default, it will be both hard to write/extend and awfully inefficient (Mozilla started with the idea of being very extensible, used XPCOM everywhere, and now they realized it was a mistake and started to remove it where it doesn't make sense).
what makes sense to do is to identify the pieces of your system that can be meaningfully extended and support a proper API for these cases (e.g. language support plug-ins in an editor). You'd use the relevant patterns, but the specific implementation depends on your platform/language choice.
IMO, it also helps to use a dynamic language - makes it possible to tweak the core code at run time (when absolutely necessary). I appreciated that Mozilla's extensibility works that way when writing Firefox extensions.
I think there are two aspects to your question:
The design of the system to be extendable (the design patterns, inversion of control and other architectural aspects) (http://www.martinfowler.com/articles/injection.html). And, at least to me, yes these patterns/techniques are platform/language independent and can be seen as a "general procedure".
Now, their implementation is language and platform dependend (for example in C/C++ you have the dynamic library stuff, etc.)
Several 'frameworks' have been developed to give you a programming environment that provides you pluggability/extensibility but as some other people mention, don't get too crazy making everything pluggable.
In the Java world a good specification to look is OSGi (http://en.wikipedia.org/wiki/OSGi) with several implementations the best one IMHO being Equinox (http://www.eclipse.org/equinox/)
Find out what minimum requrements you want to put on a plugin writer. Then make one or more Interfaces that the writer must implement for your code to know when and where to execute the code.
Make an API the writer can use to access some of the functionality in your code.
You could also make a base class the writer must inherit. This will make wiring up the API easier. Then use some kind of reflection to scan a directory, and load the classes you find that matches your requirements.
Some people also make a scripting language for their system, or implements an interpreter for a subset of an existing language. This is also a possible route to go.
Bottom line is: When you get the code to load, only your imagination should be able to stop you.
Good luck.
If you are using a compiled language such as C or C++, it may be a good idea to look at plugin support via scripting languages. Both Python and Lua are excellent languages that are used to script a large number of applications (Civ4 and blender use Python, Supreme Commander uses Lua, etc).
If you are using C++, check out the boost python library. Otherwise, python ships with headers that can be used in C, and does a fairly good job documenting the C/python API. The documentation seemed less complete for Lua, but I may not have been looking hard enough. Either way, you can offer a fairly solid scripting platform without a terrible amount of work. It still isn't trivial, but it provides you with a very good base to work from.