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PLY_import_export.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef PLY_IMPORT_EXPORT_H
10 #define PLY_IMPORT_EXPORT_H
11 
12 #include <mrpt/utils/core_defs.h>
13 #include <mrpt/utils/CStringList.h>
14 #include <mrpt/utils/TColor.h>
16 
17 namespace mrpt
18 {
19  namespace utils
20  {
21  /** A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format.
22  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
23  * \sa PLY_Exporter
24  * \ingroup mrpt_base_grp
25  */
27  {
28  public:
29  /** Loads from a PLY file.
30  * \param[in] filename The filename to open. It can be either in binary or text format.
31  * \param[out] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.
32  * \param[out] file_obj_info If provided (!=NULL) the list of "object info" strings stored in the file will be returned.
33  * \return false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()
34  */
35  bool loadFromPlyFile(
36  const std::string &filename,
37  CStringList *file_comments = NULL,
38  CStringList *file_obj_info = NULL );
39 
40  /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */
41  std::string getLoadPLYErrorString() const { return m_ply_import_last_error; }
42 
43  protected:
44  /** @name PLY Import virtual methods to implement in base classes
45  @{ */
46 
47  /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */
48  virtual void PLY_import_set_vertex_count(const size_t N) = 0;
49 
50  /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face */
51  virtual void PLY_import_set_face_count(const size_t N) = 0;
52 
53  /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
54  * \param pt_color Will be NULL if the loaded file does not provide color info.
55  */
56  virtual void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color = NULL) = 0;
57 
58  /** @} */
59 
60  private:
62 
63  }; // End of class def.
64 
65 
66  /** A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format.
67  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
68  * \sa PLY_Importer
69  * \ingroup mrpt_base_grp
70  */
72  {
73  public:
74  /** Saves to a PLY file.
75  * \param[in] filename The filename to be saved.
76  * \param[in] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.
77  * \param[in] file_obj_info If provided (!=NULL) the list of "object info" strings stored in the file will be returned.
78  * \return false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()
79  */
80  bool saveToPlyFile(
81  const std::string & filename,
82  bool save_in_binary = false,
83  const CStringList & file_comments = CStringList(),
84  const CStringList & file_obj_info = CStringList() ) const;
85 
86  /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */
87  std::string getSavePLYErrorString() const { return m_ply_export_last_error; }
88 
89  protected:
90  /** @name PLY Export virtual methods to implement in base classes
91  @{ */
92 
93  /** In a base class, return the number of vertices */
94  virtual size_t PLY_export_get_vertex_count() const = 0;
95 
96  /** In a base class, return the number of faces */
97  virtual size_t PLY_export_get_face_count() const = 0;
98 
99  /** In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
100  * \param pt_color Will be NULL if the loaded file does not provide color info.
101  */
102  virtual void PLY_export_get_vertex(
103  const size_t idx,
105  bool &pt_has_color,
106  mrpt::utils::TColorf &pt_color) const = 0;
107 
108  /** @} */
109 
110  private:
112 
113  }; // End of class def.
114 
115  } // End of namespace
116 } // end of namespace
117 #endif
std::string getSavePLYErrorString() const
Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file...
A class for storing a list of text lines.
Definition: CStringList.h:32
Lightweight 3D point (float version).
A virtual base class that implements the capability of importing 3D point clouds and faces from a fil...
GLsizei const GLcharARB ** string
Definition: glew.h:3293
std::string getLoadPLYErrorString() const
Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file...
A RGB color - floats in the range [0,1].
Definition: TColor.h:80
A virtual base class that implements the capability of exporting 3D point clouds and faces to a file ...



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