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+ support of export of points to pcd and ply format

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This commit is contained in:
wmayer 2016-03-04 14:48:26 +01:00
parent 74a43f23b3
commit a5e6edff87
5 changed files with 495 additions and 5 deletions
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3
src/Mod/Mesh/App/AppMeshPy.cpp
View File

@ -67,9 +67,6 @@ public:
add_varargs_method("insert",&Module::importer,
"insert(string|mesh,[string]) -- Load or insert a mesh into the given or active document."
);
add_varargs_method("insert",&Module::importer,
"insert(string|mesh,[string]) -- Load or insert a mesh into the given or active document."
);
add_varargs_method("export",&Module::exporter,
"export(list,string,[tolerance]) -- Export a list of objects into a single file. tolerance is in mm\n"
"and specifies the maximum acceptable deviation between the specified objects and the exported mesh."

93
src/Mod/Points/App/AppPointsPy.cpp
View File

@ -43,6 +43,7 @@
#include <App/Application.h>
#include <App/Document.h>
#include <App/DocumentObject.h>
#include <App/DocumentObjectPy.h>
#include <App/Property.h>
#include "Points.h"
@ -59,7 +60,9 @@ public:
{
add_varargs_method("open",&Module::open
);
add_varargs_method("insert",&Module::insert
add_varargs_method("insert",&Module::importer
);
add_varargs_method("export",&Module::exporter
);
add_varargs_method("show",&Module::show
);
@ -172,7 +175,7 @@ private:
return Py::None();
}
Py::Object insert(const Py::Tuple& args)
Py::Object importer(const Py::Tuple& args)
{
char* Name;
const char* DocName;
@ -279,6 +282,92 @@ private:
return Py::None();
}
Py::Object exporter(const Py::Tuple& args)
{
PyObject *object;
char *Name;
if (!PyArg_ParseTuple(args.ptr(), "Oet", &object, "utf-8", &Name))
throw Py::Exception();
std::string encodedName = std::string(Name);
PyMem_Free(Name);
Base::FileInfo file(encodedName);
// extract ending
if (file.extension().empty())
throw Py::RuntimeError("No file extension");
Py::Sequence list(object);
Base::Type pointsId = Base::Type::fromName("Points::Feature");
for (Py::Sequence::iterator it = list.begin(); it != list.end(); ++it) {
PyObject* item = (*it).ptr();
if (PyObject_TypeCheck(item, &(App::DocumentObjectPy::Type))) {
App::DocumentObject* obj = static_cast<App::DocumentObjectPy*>(item)->getDocumentObjectPtr();
if (obj->getTypeId().isDerivedFrom(pointsId)) {
Points::Feature* fea = static_cast<Points::Feature*>(obj);
const PointKernel& kernel = fea->Points.getValue();
std::auto_ptr<Writer> writer;
if (file.hasExtension("asc")) {
writer.reset(new AscWriter(kernel));
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
writer.reset(new PlyWriter(kernel));
}
else if (file.hasExtension("pcd")) {
writer.reset(new PcdWriter(kernel));
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}
// get additional properties if there
App::PropertyInteger* width = dynamic_cast<App::PropertyInteger*>
(fea->getPropertyByName("Width"));
if (width) {
writer->setWidth(width->getValue());
}
App::PropertyInteger* height = dynamic_cast<App::PropertyInteger*>
(fea->getPropertyByName("Height"));
if (height) {
writer->setHeight(height->getValue());
}
// get gray values
Points::PropertyGreyValueList* grey = dynamic_cast<Points::PropertyGreyValueList*>
(fea->getPropertyByName("Intensity"));
if (grey) {
writer->setIntensities(grey->getValues());
}
// get colors
App::PropertyColorList* col = dynamic_cast<App::PropertyColorList*>
(fea->getPropertyByName("Color"));
if (col) {
writer->setColors(col->getValues());
}
// get normals
Points::PropertyNormalList* nor = dynamic_cast<Points::PropertyNormalList*>
(fea->getPropertyByName("Normal"));
if (nor) {
writer->setNormals(nor->getValues());
}
writer->write(encodedName);
break;
}
else {
Base::Console().Message("'%s' is not a point object, export will be ignored.\n", obj->Label.getValue());
}
}
}
return Py::None();
}
Py::Object show(const Py::Tuple& args)
{
PyObject *pcObj;

353
src/Mod/Points/App/PointsAlgos.cpp
View File

@ -46,6 +46,7 @@
#include <Base/Stream.h>
#include <boost/regex.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
using namespace Points;
@ -436,3 +437,355 @@ void PcdReader::read(const std::string& filename)
}
#endif
// ----------------------------------------------------------------------------
Writer::Writer(const PointKernel& p) : points(p)
{
width = p.size();
height = 1;
}
Writer::~Writer()
{
}
void Writer::setIntensities(const std::vector<float>& i)
{
intensity = i;
}
void Writer::setColors(const std::vector<App::Color>& c)
{
colors = c;
}
void Writer::setNormals(const std::vector<Base::Vector3f>& n)
{
normals = n;
}
void Writer::setWidth(int w)
{
width = w;
}
void Writer::setHeight(int h)
{
height = h;
}
// ----------------------------------------------------------------------------
AscWriter::AscWriter(const PointKernel& p) : Writer(p)
{
}
AscWriter::~AscWriter()
{
}
void AscWriter::write(const std::string& filename)
{
points.save(filename.c_str());
}
// ----------------------------------------------------------------------------
#ifdef HAVE_PCL_IO
PlyWriter::PlyWriter(const PointKernel& p) : Writer(p)
{
}
PlyWriter::~PlyWriter()
{
}
void PlyWriter::write(const std::string& filename)
{
bool hasIntensity = (intensity.size() == points.size());
bool hasColors = (colors.size() == points.size());
bool hasNormals = (normals.size() == points.size());
if (hasNormals && hasColors) {
pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
const App::Color& c = colors[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
pcl::PointXYZRGBNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
pn.r = c.r * 255.0f;
pn.g = c.g * 255.0f;
pn.b = c.b * 255.0f;
cloud_out.push_back(pn);
}
}
pcl::io::savePLYFile<pcl::PointXYZRGBNormal>(filename, cloud_out);
}
else if (hasNormals && hasIntensity) {
pcl::PointCloud<pcl::PointXYZINormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
pcl::PointXYZINormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
pn.intensity = intensity[index];
cloud_out.push_back(pn);
}
}
pcl::io::savePLYFile<pcl::PointXYZINormal>(filename, cloud_out);
}
else if (hasColors) {
pcl::PointCloud<pcl::PointXYZRGBA> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const App::Color& c = colors[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
pcl::PointXYZRGBA pc;
pc.x = p.x;
pc.y = p.y;
pc.z = p.z;
pc.r = c.r * 255.0f;
pc.g = c.g * 255.0f;
pc.b = c.b * 255.0f;
cloud_out.push_back(pc);
}
}
pcl::io::savePLYFile<pcl::PointXYZRGBA>(filename, cloud_out);
}
else if (hasIntensity) {
pcl::PointCloud<pcl::PointXYZI> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
pcl::PointXYZI pi;
pi.x = p.x;
pi.y = p.y;
pi.z = p.z;
pi.intensity = intensity[index];
cloud_out.push_back(pi);
}
}
pcl::io::savePLYFile<pcl::PointXYZI>(filename, cloud_out);
}
else if (hasNormals) {
pcl::PointCloud<pcl::PointNormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
pcl::PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_out.push_back(pn);
}
}
pcl::io::savePLYFile<pcl::PointNormal>(filename, cloud_out);
}
else {
pcl::PointCloud<pcl::PointXYZ> cloud_out;
cloud_out.reserve(points.size());
for (Points::PointKernel::const_iterator it = points.begin(); it != points.end(); ++it) {
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z)) {
cloud_out.push_back(pcl::PointXYZ(it->x, it->y, it->z));
}
}
pcl::io::savePLYFile<pcl::PointXYZ>(filename, cloud_out);
}
}
// ----------------------------------------------------------------------------
PcdWriter::PcdWriter(const PointKernel& p) : Writer(p)
{
}
PcdWriter::~PcdWriter()
{
}
void PcdWriter::write(const std::string& filename)
{
bool hasIntensity = (intensity.size() == points.size());
bool hasColors = (colors.size() == points.size());
bool hasNormals = (normals.size() == points.size());
if (hasNormals && hasColors) {
pcl::PointCloud<pcl::PointXYZRGBNormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
const App::Color& c = colors[index];
pcl::PointXYZRGBNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
pn.r = c.r * 255.0f;
pn.g = c.g * 255.0f;
pn.b = c.b * 255.0f;
cloud_out.push_back(pn);
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointXYZRGBNormal>(filename, cloud_out);
}
else if (hasNormals && hasIntensity) {
pcl::PointCloud<pcl::PointXYZINormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
pcl::PointXYZINormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
pn.intensity = intensity[index];
cloud_out.push_back(pn);
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointXYZINormal>(filename, cloud_out);
}
else if (hasColors) {
pcl::PointCloud<pcl::PointXYZRGBA> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const App::Color& c = colors[index];
pcl::PointXYZRGBA pc;
pc.x = p.x;
pc.y = p.y;
pc.z = p.z;
pc.r = c.r * 255.0f;
pc.g = c.g * 255.0f;
pc.b = c.b * 255.0f;
cloud_out.push_back(pc);
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointXYZRGBA>(filename, cloud_out);
}
else if (hasIntensity) {
pcl::PointCloud<pcl::PointXYZI> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
pcl::PointXYZI pi;
pi.x = p.x;
pi.y = p.y;
pi.z = p.z;
pi.intensity = intensity[index];
cloud_out.push_back(pi);
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointXYZI>(filename, cloud_out);
}
else if (hasNormals) {
pcl::PointCloud<pcl::PointNormal> cloud_out;
cloud_out.reserve(points.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
std::size_t num_points = pts.size();
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = pts[index];
const Base::Vector3f& n = normals[index];
pcl::PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_out.push_back(pn);
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointNormal>(filename, cloud_out);
}
else {
pcl::PointCloud<pcl::PointXYZ> cloud_out;
cloud_out.reserve(points.size());
for (Points::PointKernel::const_iterator it = points.begin(); it != points.end(); ++it) {
cloud_out.push_back(pcl::PointXYZ(it->x, it->y, it->z));
}
cloud_out.width = width;
cloud_out.height = height;
pcl::io::savePCDFile<pcl::PointXYZ>(filename, cloud_out);
}
}
#endif

47
src/Mod/Points/App/PointsAlgos.h
View File

@ -97,6 +97,53 @@ public:
};
#endif
class Writer
{
public:
Writer(const PointKernel&);
virtual ~Writer();
virtual void write(const std::string& filename) = 0;
void setIntensities(const std::vector<float>&);
void setColors(const std::vector<App::Color>&);
void setNormals(const std::vector<Base::Vector3f>&);
void setWidth(int);
void setHeight(int);
protected:
const PointKernel& points;
std::vector<float> intensity;
std::vector<App::Color> colors;
std::vector<Base::Vector3f> normals;
int width, height;
};
class AscWriter : public Writer
{
public:
AscWriter(const PointKernel&);
~AscWriter();
void write(const std::string& filename);
};
#ifdef HAVE_PCL_IO
class PlyWriter : public Writer
{
public:
PlyWriter(const PointKernel&);
~PlyWriter();
void write(const std::string& filename);
};
class PcdWriter : public Writer
{
public:
PcdWriter(const PointKernel&);
~PcdWriter();
void write(const std::string& filename);
};
#endif
} // namespace Points

4
src/Mod/Points/Init.py
View File

@ -31,3 +31,7 @@
FreeCAD.addImportType("Point formats (*.asc)","Points")
FreeCAD.addImportType("PLY points (*.ply)","Points")
FreeCAD.addImportType("PCD points (*.pcd)","Points")
FreeCAD.addExportType("Point formats (*.asc)","Points")
FreeCAD.addExportType("PLY points (*.ply)","Points")
FreeCAD.addExportType("PCD points (*.pcd)","Points")