+ support of export of points to pcd and ply format

src/Mod/Mesh/App/AppMeshPy.cpp

@@ -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."

src/Mod/Points/App/AppPointsPy.cpp

@@ -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;

src/Mod/Points/App/PointsAlgos.cpp

@@ -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

src/Mod/Points/App/PointsAlgos.h

@@ -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
 
 

src/Mod/Points/Init.py

@@ -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")