loadPLYFile() does not support NaN values

[VictorLamoine]

Test code

#include <pcl/common/common.h>
#include <pcl/console/parse.h>
#include <pcl/point_cloud.h>
#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>

int main(int argc, char* argv[])
{
  std::vector<int> ply_args = pcl::console::parse_file_extension_argument (argc, argv, ".ply");
  if (ply_args.size() != 1)
  {
    PCL_ERROR("Usage: %s input.ply\n", argv[0]);
    return -1;
  }

  PCL_INFO("Trying to loading %s\n", argv[ply_args[0]]);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  if (pcl::io::loadPLYFile(argv[ply_args[0]], *cloud) != 0)
  {
    PCL_ERROR("Could not load %s\n", argv[ply_args[0]]);
    return -1;
  }

  PCL_INFO("The cloud is %s.\n", cloud->is_dense ? "dense" : "NOT dense");
  pcl::visualization::PCLVisualizer viewer;
  viewer.addPointCloud(cloud);
  viewer.spin();
  return 0;
}

File 1

ply
format ascii 1.0
comment VCGLIB generated
element vertex 4
property float x
property float y
property float z
element face 0
property list uchar int vertex_indices
end_header
4.23607 0 1.61803 
2.61803 2.61803 2.61803 
0 1.61803 4.23607 
0 -1.61803 4.23607 

File 2

ply
format ascii 1.0
comment VCGLIB generated
element vertex 4
property float x
property float y
property float z
element face 0
property list uchar int vertex_indices
end_header
4.23607 nan 1.61803 
2.61803 2.61803 2.61803 
0 1.61803 4.23607 
0 -1.61803 4.23607 

File 3

ply
format ascii 1.0
comment VCGLIB generated
element vertex 4
property float x
property float y
property float z
element face 0
property list uchar int vertex_indices
end_header
4.23607 NaN 1.61803 
2.61803 2.61803 2.61803 
0 1.61803 4.23607 
0 -1.61803 4.23607 

Output error:

Happens with file_2 and file_3

$ ./test_pcl_1 ~/file_2.ply 
[pcl::PLYReader] /home/victor/file_2.ply:9: property 'list uint8 int32 vertex_indices' of element 'face' is not handled
[pcl::PLYReader] /home/victor/file_2.ply:11: parse error
[pcl::PLYReader::read] problem parsing header!
[pcl::PLYReader::read] problem parsing header!
Could not load /home/victor/file_2.ply

[SergioRAgostinho]

Traced the problem here.

The issue is that istream cannot properly parse the nan,inf and variants into the actual float variable.
http://stackoverflow.com/questions/11420263/is-it-possible-to-read-infinity-or-nan-values-using-input-streams
http://stackoverflow.com/questions/7477978/nan-ascii-i-o-with-visual-c

To handle it, the value needs to be extracted as a string followed by an explicit conversion attempt.