+ extended ply reader based on pcl to read-in attached properties
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wmayer
parent
c2de4059c9
commit
07b36e6bca
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@ -29,6 +29,11 @@
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# include <sstream>
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#endif
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#ifdef HAVE_PCL_IO
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# include <pcl/io/ply_io.h>
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# include <pcl/point_types.h>
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#endif
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#include "PointsAlgos.h"
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#include "Points.h"
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@ -111,3 +116,162 @@ void PointsAlgos::LoadAscii(PointKernel &points, const char *FileName)
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if (LineCnt < (int)points.size())
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points.erase(LineCnt, points.size());
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}
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#ifdef HAVE_PCL_IO
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PlyReader::PlyReader()
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{
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}
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PlyReader::~PlyReader()
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{
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}
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void PlyReader::clear()
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{
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intensity.clear();
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colors.clear();
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normals.clear();
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}
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void PlyReader::read(const std::string& filename)
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{
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clear();
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// pcl test
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pcl::PCLPointCloud2 cloud2;
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Eigen::Vector4f origin;
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Eigen::Quaternionf orientation;
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int ply_version;
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int data_type;
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unsigned int data_idx;
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pcl::PLYReader ply;
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ply.readHeader(filename, cloud2, origin, orientation, ply_version, data_type, data_idx);
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bool hasIntensity = false;
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bool hasColors = false;
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bool hasNormals = false;
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for (size_t i = 0; i < cloud2.fields.size (); ++i) {
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if (cloud2.fields[i].name == "intensity")
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hasIntensity = true;
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if (cloud2.fields[i].name == "normal_x" || cloud2.fields[i].name == "nx")
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hasNormals = true;
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if (cloud2.fields[i].name == "normal_y" || cloud2.fields[i].name == "ny")
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hasNormals = true;
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if (cloud2.fields[i].name == "normal_z" || cloud2.fields[i].name == "nz")
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hasNormals = true;
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if (cloud2.fields[i].name == "red")
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hasColors = true;
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if (cloud2.fields[i].name == "green")
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hasColors = true;
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if (cloud2.fields[i].name == "blue")
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hasColors = true;
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if (cloud2.fields[i].name == "rgb")
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hasColors = true;
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if (cloud2.fields[i].name == "rgba")
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hasColors = true;
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}
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if (hasNormals && hasColors) {
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pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_in;
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pcl::io::loadPLYFile<pcl::PointXYZRGBNormal>(filename, cloud_in);
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points.reserve(cloud_in.size());
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colors.reserve(cloud_in.size());
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normals.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointXYZRGBNormal>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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colors.push_back(App::Color(it->r/255.0f,it->g/255.0f,it->b/255.0f));
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normals.push_back(Base::Vector3f(it->normal_x,it->normal_y,it->normal_z));
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}
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}
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else if (hasNormals && hasIntensity) {
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pcl::PointCloud<pcl::PointXYZINormal> cloud_in;
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pcl::io::loadPLYFile<pcl::PointXYZINormal>(filename, cloud_in);
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points.reserve(cloud_in.size());
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intensity.reserve(cloud_in.size());
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normals.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointXYZINormal>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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intensity.push_back(it->intensity);
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normals.push_back(Base::Vector3f(it->normal_x,it->normal_y,it->normal_z));
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}
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}
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else if (hasColors) {
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pcl::PointCloud<pcl::PointXYZRGBA> cloud_in;
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pcl::io::loadPLYFile<pcl::PointXYZRGBA>(filename, cloud_in);
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points.reserve(cloud_in.size());
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colors.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointXYZRGBA>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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colors.push_back(App::Color(it->r/255.0f,it->g/255.0f,it->b/255.0f,it->a/255.0f));
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}
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}
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else if (hasIntensity) {
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pcl::PointCloud<pcl::PointXYZI> cloud_in;
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pcl::io::loadPLYFile<pcl::PointXYZI>(filename, cloud_in);
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points.reserve(cloud_in.size());
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intensity.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointXYZI>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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intensity.push_back(it->intensity);
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}
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}
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else if (hasNormals) {
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pcl::PointCloud<pcl::PointNormal> cloud_in;
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pcl::io::loadPLYFile<pcl::PointNormal>(filename, cloud_in);
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points.reserve(cloud_in.size());
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normals.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointNormal>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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normals.push_back(Base::Vector3f(it->normal_x,it->normal_y,it->normal_z));
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}
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}
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else {
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pcl::PointCloud<pcl::PointXYZ> cloud_in;
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pcl::io::loadPLYFile<pcl::PointXYZ>(filename, cloud_in);
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points.reserve(cloud_in.size());
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for (pcl::PointCloud<pcl::PointXYZ>::const_iterator it = cloud_in.begin();it!=cloud_in.end();++it) {
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points.push_back(Base::Vector3d(it->x,it->y,it->z));
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}
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}
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}
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const PointKernel& PlyReader::getPoints() const
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{
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return points;
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}
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bool PlyReader::hasProperties() const
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{
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return (hasIntensities() || hasColors() || hasNormals());
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}
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const std::vector<float>& PlyReader::getIntensities() const
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{
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return intensity;
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}
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bool PlyReader::hasIntensities() const
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{
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return (!intensity.empty());
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}
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const std::vector<App::Color>& PlyReader::getColors() const
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{
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return colors;
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}
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bool PlyReader::hasColors() const
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{
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return (!colors.empty());
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}
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const std::vector<Base::Vector3f>& PlyReader::getNormals() const
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{
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return normals;
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}
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bool PlyReader::hasNormals() const
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{
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return (!normals.empty());
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}
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#endif
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@ -25,6 +25,7 @@
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#define _PointsAlgos_h_
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#include "Points.h"
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#include "Properties.h"
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namespace Points
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{
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@ -34,15 +35,39 @@ namespace Points
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class PointsExport PointsAlgos
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{
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public:
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/** Load a point cloud
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*/
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static void Load(PointKernel&, const char *FileName);
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/** Load a point cloud
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*/
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static void LoadAscii(PointKernel&, const char *FileName);
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/** Load a point cloud
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*/
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static void Load(PointKernel&, const char *FileName);
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/** Load a point cloud
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*/
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static void LoadAscii(PointKernel&, const char *FileName);
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};
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#ifdef HAVE_PCL_IO
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class PlyReader
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{
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public:
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PlyReader();
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~PlyReader();
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void clear();
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void read(const std::string& filename);
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const PointKernel& getPoints() const;
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bool hasProperties() const;
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const std::vector<float>& getIntensities() const;
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bool hasIntensities() const;
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const std::vector<App::Color>& getColors() const;
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bool hasColors() const;
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const std::vector<Base::Vector3f>& getNormals() const;
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bool hasNormals() const;
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private:
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PointKernel points;
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std::vector<float> intensity;
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std::vector<App::Color> colors;
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std::vector<Base::Vector3f> normals;
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};
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#endif
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} // namespace Points
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