347 lines
14 KiB
C++
347 lines
14 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* Copyright (c) 2013, Open Perception, Inc.
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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/memory.h>
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#include <pcl/TextureMesh.h>
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#include <pcl/io/file_io.h>
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namespace pcl
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{
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struct PolygonMesh;
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class PCL_EXPORTS MTLReader
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{
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public:
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/** \brief empty constructor */
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MTLReader ();
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/** \brief empty destructor */
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virtual ~MTLReader() {}
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/** \brief Read a MTL file given its full path.
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* \param[in] filename full path to MTL file
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* \return 0 on success < 0 else.
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*/
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int
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read (const std::string& filename);
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/** \brief Read a MTL file given an OBJ file full path and the MTL file name.
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* \param[in] obj_file_name full path to OBJ file
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* \param[in] mtl_file_name MTL file name
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* \return 0 on success < 0 else.
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*/
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int
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read (const std::string& obj_file_name, const std::string& mtl_file_name);
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std::vector<pcl::TexMaterial>::const_iterator
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getMaterial (const std::string& material_name) const;
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/// materials array
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std::vector<pcl::TexMaterial> materials_;
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private:
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/// converts CIE XYZ to RGB
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inline void
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cie2rgb (const Eigen::Vector3f& xyz, pcl::TexMaterial::RGB& rgb) const;
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/// fill a pcl::TexMaterial::RGB from a split line containing CIE x y z values
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int
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fillRGBfromXYZ (const std::vector<std::string>& split_line, pcl::TexMaterial::RGB& rgb);
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/// fill a pcl::TexMaterial::RGB from a split line containing r g b values
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int
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fillRGBfromRGB (const std::vector<std::string>& split_line, pcl::TexMaterial::RGB& rgb);
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/// matrix to convert CIE to RGB
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Eigen::Matrix3f xyz_to_rgb_matrix_;
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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class PCL_EXPORTS OBJReader : public FileReader
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{
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public:
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/** \brief empty constructor */
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OBJReader() {}
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/** \brief empty destructor */
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~OBJReader() {}
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/** \brief Read a point cloud data header from a FILE 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 FILE 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 containing the actual PointCloud data
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* \param[out] cloud the resultant PointCloud message read from disk
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* \param[out] origin the sensor acquisition origin always null
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* \param[out] orientation the sensor acquisition orientation always identity
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* \param[out] file_version always 0
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* \param data_type
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* \param data_idx
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*
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* \return 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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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, int &data_type, unsigned int &data_idx,
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const int offset) override;
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/** \brief Read a point cloud data from a FILE file and store it into a
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* 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 PointCloud message read from disk
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* \param[out] origin the sensor acquisition origin always null
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* \param[out] orientation the sensor acquisition orientation always identity
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* \param[out] file_version always 0
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*
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* \return 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,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, const int offset = 0) override;
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/** \brief Read a point cloud data from a FILE file and store it into a
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* 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 PointCloud message read from disk
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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*
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* \return 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, const int offset = 0);
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/** \brief Read a point cloud data from a FILE file and store it into a
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* pcl/TextureMesh.
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* \param[in] file_name the name of the file containing data
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* \param[out] mesh the resultant TextureMesh read from disk
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* \param[out] origin the sensor origin always null
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* \param[out] orientation the sensor orientation always identity
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* \param[out] file_version always 0
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* \param[in] offset the offset in the file where to expect the true
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* header to begin.
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*
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* \return 0 on success.
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*/
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int
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read (const std::string &file_name, pcl::TextureMesh &mesh,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, const int offset = 0);
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/** \brief Read a point cloud data from a FILE file and store it into a
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* pcl/TextureMesh.
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* \param[in] file_name the name of the file containing data
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* \param[out] mesh the resultant TextureMesh read from disk
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* \param[in] offset the offset in the file where to expect the true
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* header to begin.
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*
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* \return 0 on success.
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*/
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int
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read (const std::string &file_name, pcl::TextureMesh &mesh, const int offset = 0);
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/** \brief Read a point cloud data from a FILE file and store it into a
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* pcl/PolygonMesh.
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* \param[in] file_name the name of the file containing data
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* \param[out] mesh the resultant PolygonMesh read from disk
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* \param[out] origin the sensor origin always null
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* \param[out] orientation the sensor orientation always identity
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* \param[out] file_version always 0
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* \param[in] offset the offset in the file where to expect the true
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* header to begin.
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*
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* \return 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,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, const int offset = 0);
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/** \brief Read a point cloud data from a FILE file and store it into a
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* pcl/PolygonMesh.
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* \param[in] file_name the name of the file containing data
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* \param[out] mesh the resultant PolygonMesh read from disk
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* \param[in] offset the offset in the file where to expect the true
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* header to begin.
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*
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* \return 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, const int offset = 0);
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/** \brief Read a point cloud data from any FILE file, and convert it to the given
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* template 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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* \param[in] offset the offset in the file where to expect the true header to begin.
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* One usage example for setting the offset parameter is for reading
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* data from a TAR "archive containing multiple files: TAR files always
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* add a 512 byte header in front of the actual file, so set the offset
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* to the next byte after the header (e.g., 513).
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*/
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template<typename PointT> inline int
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read (const std::string &file_name, pcl::PointCloud<PointT> &cloud,
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const int offset =0)
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{
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pcl::PCLPointCloud2 blob;
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int file_version;
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int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
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file_version, offset);
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if (res < 0)
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return (res);
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pcl::fromPCLPointCloud2 (blob, cloud);
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return (0);
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}
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private:
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/// Usually OBJ files come MTL files where texture materials are stored
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std::vector<pcl::MTLReader> companions_;
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};
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namespace io
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{
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/** \brief Load any OBJ 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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* \param[out] origin the sensor acquisition origin, null
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* \param[out] orientation the sensor acquisition orientation, identity
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* \ingroup io
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*/
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inline int
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loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
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{
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pcl::OBJReader p;
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int obj_version;
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return (p.read (file_name, cloud, origin, orientation, obj_version));
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}
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/** \brief Load an OBJ 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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loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
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{
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pcl::OBJReader p;
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return (p.read (file_name, cloud));
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}
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/** \brief Load any OBJ 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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* \ingroup io
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*/
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template<typename PointT> inline int
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loadOBJFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
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{
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pcl::OBJReader p;
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return (p.read (file_name, cloud));
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}
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/** \brief Load any OBJ 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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loadOBJFile (const std::string &file_name, pcl::PolygonMesh &mesh)
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{
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pcl::OBJReader p;
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return (p.read (file_name, mesh));
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}
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/** \brief Load any OBJ file into a TextureMesh 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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loadOBJFile (const std::string &file_name, pcl::TextureMesh &mesh)
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{
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pcl::OBJReader p;
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return (p.read (file_name, mesh));
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}
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/** \brief Saves a TextureMesh in ascii OBJ format.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] tex_mesh the texture mesh to save
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* \param[in] precision the output ASCII precision
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* \ingroup io
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*/
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PCL_EXPORTS int
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saveOBJFile (const std::string &file_name,
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const pcl::TextureMesh &tex_mesh,
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unsigned precision = 5);
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/** \brief Saves a PolygonMesh in ascii PLY format.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] mesh the polygonal mesh to save
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* \param[in] precision the output ASCII precision default 5
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* \ingroup io
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*/
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PCL_EXPORTS int
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saveOBJFile (const std::string &file_name,
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const pcl::PolygonMesh &mesh,
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unsigned precision = 5);
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}
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}
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