255 lines
8.7 KiB
C
255 lines
8.7 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2013, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/point_cloud.h>
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#include <pcl/PCLPointCloud2.h>
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#include <pcl/conversions.h>
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#include <pcl/PolygonMesh.h>
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namespace pcl
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{
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/** \brief Indexed Face set (IFS) file format reader. This file format is used for
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* the Brown Mesh Set for instance.
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* \author Nizar Sallem
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* \ingroup io
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*/
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class PCL_EXPORTS IFSReader
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{
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public:
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/** Empty constructor */
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IFSReader () {}
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/** Empty destructor */
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~IFSReader () {}
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/** \brief we support two versions
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* 1.0 classic
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* 1.1 with texture coordinates addon
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*/
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enum
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{
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IFS_V1_0 = 0,
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IFS_V1_1 = 1
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};
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/** \brief Read a point cloud data header from an IFS file.
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*
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* Load only the meta information (number of points, their types, etc),
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* and not the points themselves, from a given IFS file. Useful for fast
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* evaluation of the underlying data structure.
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*
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant point cloud dataset (only header will be filled)
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* \param[out] ifs_version the IFS version of the file (IFS_V1_0 or IFS_V1_1)
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* \param[out] data_idx the offset of cloud data within the file
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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int &ifs_version, unsigned int &data_idx);
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/** \brief Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PCLPointCloud2 blob read from disk
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* \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, int &ifs_version);
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/** \brief Read a point cloud data from an IFS file and store it into a PolygonMesh.
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* \param[in] file_name the name of the file containing the mesh data
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* \param[out] mesh the resultant PolygonMesh
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* \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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int
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read (const std::string &file_name, pcl::PolygonMesh &mesh, int &ifs_version);
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/** \brief Read a point cloud data from an IFS file, and convert it to the
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* given template pcl::PointCloud format.
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* \param[in] file_name the name of the file containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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*
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* \return
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* * < 0 (-1) on error
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* * == 0 on success
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*/
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template<typename PointT> int
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read (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
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{
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pcl::PCLPointCloud2 blob;
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int ifs_version;
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cloud.sensor_origin_ = Eigen::Vector4f::Zero ();
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cloud.sensor_orientation_ = Eigen::Quaternionf::Identity ();
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int res = read (file_name, blob, ifs_version);
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// If no error, convert the data
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if (res == 0)
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pcl::fromPCLPointCloud2 (blob, cloud);
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return (res);
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}
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};
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/** \brief Point Cloud Data (IFS) file format writer.
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* \author Nizar Sallem
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* \ingroup io
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*/
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class PCL_EXPORTS IFSWriter
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{
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public:
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IFSWriter() {}
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~IFSWriter() {}
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/** \brief Save point cloud data to an IFS file containing 3D points.
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data
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* \param[in] cloud_name the point cloud name to be stored inside the IFS file.
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*
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* \return
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* * 0 on success
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* * < 0 on error
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*/
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int
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write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
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const std::string &cloud_name = "cloud");
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/** \brief Save point cloud data to an IFS file containing 3D points.
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud
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* \param[in] cloud_name the point cloud name to be stored inside the IFS file.
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*
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* \return
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* * 0 on success
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* * < 0 on error
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*/
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template<typename PointT> int
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write (const std::string &file_name, const pcl::PointCloud<PointT> &cloud,
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const std::string &cloud_name = "cloud")
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{
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pcl::PCLPointCloud2 blob;
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pcl::toPCLPointCloud2<PointT> (cloud, blob);
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return (write (file_name, blob, cloud_name));
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}
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};
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namespace io
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{
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/** \brief Load an IFS file into a PCLPointCloud2 blob type.
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant templated point cloud
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* \return 0 on success < 0 on error
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*
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* \ingroup io
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*/
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inline int
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loadIFSFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
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{
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pcl::IFSReader p;
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int ifs_version;
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return (p.read (file_name, cloud, ifs_version));
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}
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/** \brief Load any IFS file into a templated PointCloud type.
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant templated point cloud
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* \return 0 on success < 0 on error
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*
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* \ingroup io
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*/
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template<typename PointT> inline int
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loadIFSFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
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{
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pcl::IFSReader p;
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return (p.read<PointT> (file_name, cloud));
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}
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/** \brief Load any IFS file into a PolygonMesh type.
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* \param[in] file_name the name of the file to load
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* \param[out] mesh the resultant mesh
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* \return 0 on success < 0 on error
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*
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* \ingroup io
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*/
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inline int
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loadIFSFile (const std::string &file_name, pcl::PolygonMesh &mesh)
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{
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pcl::IFSReader p;
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int ifs_version;
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return (p.read (file_name, mesh, ifs_version));
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}
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/** \brief Save point cloud data to an IFS file containing 3D points
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud data message
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* \return 0 on success < 0 on error
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*
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* \ingroup io
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*/
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inline int
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saveIFSFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud)
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{
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pcl::IFSWriter w;
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return (w.write (file_name, cloud));
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}
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/** \brief Save point cloud data to an IFS file containing 3D points
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud
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* \return 0 on success < 0 on error
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*
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* \ingroup io
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*/
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template<typename PointT> int
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saveIFSFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
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{
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pcl::IFSWriter w;
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return (w.write<PointT> (file_name, cloud));
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}
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}
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}
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