PLY_import_export.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  PLY_IMPORT_EXPORT_H
#define  PLY_IMPORT_EXPORT_H

#include <mrpt/utils/core_defs.h>
#include <mrpt/utils/CStringList.h>
#include <mrpt/utils/TColor.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt
{
        namespace utils
        {
                /** A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format.
                  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
                  * \sa PLY_Exporter
                 * \ingroup mrpt_base_grp
                  */
                class BASE_IMPEXP PLY_Importer
                {
                public:
                        /** Loads from a PLY file.
                          * \param[in]  filename The filename to open. It can be either in binary or text format.
                          * \param[out] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.
                          * \param[out] file_obj_info If provided (!=NULL) the list of "object info" strings stored in the file will be returned.
                          * \return false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()
                          */
                        bool loadFromPlyFile(
                                const std::string         &filename,
                                CStringList  *file_comments = NULL,
                                CStringList  *file_obj_info = NULL );

                        /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */
                        std::string getLoadPLYErrorString() const { return m_ply_import_last_error; }

                protected:
                        /** @name PLY Import virtual methods to implement in base classes
                            @{ */

                        /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */
                        virtual void PLY_import_set_vertex_count(const size_t N) = 0;

                        /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face */
                        virtual void PLY_import_set_face_count(const size_t N) = 0;

                        /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
                          *  \param pt_color Will be NULL if the loaded file does not provide color info.
                          */
                        virtual void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color = NULL) = 0;

                        /** @} */

                private:
                        std::string  m_ply_import_last_error;

                }; // End of class def.


                /** A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format.
                  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
                  * \sa PLY_Importer
                 * \ingroup mrpt_base_grp
                  */
                class BASE_IMPEXP PLY_Exporter
                {
                public:
                        /** Saves to a PLY file.
                          * \param[in]  filename The filename to be saved.
                          * \param[in] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.
                          * \param[in] file_obj_info If provided (!=NULL) the list of "object info" strings stored in the file will be returned.
                          * \return false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()
                          */
                        bool saveToPlyFile(
                                const std::string  & filename,
                                bool save_in_binary = false,
                                const CStringList  & file_comments = CStringList(),
                                const CStringList  & file_obj_info = CStringList() ) const;

                        /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */
                        std::string getSavePLYErrorString() const { return m_ply_export_last_error; }

                protected:
                        /** @name PLY Export virtual methods to implement in base classes
                            @{ */

                        /** In a base class, return the number of vertices */
                        virtual size_t PLY_export_get_vertex_count() const = 0;

                        /** In a base class, return the number of faces */
                        virtual size_t PLY_export_get_face_count() const = 0;

                        /** In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
                          *  \param pt_color Will be NULL if the loaded file does not provide color info.
                          */
                        virtual void PLY_export_get_vertex(
                                const size_t idx,
                                mrpt::math::TPoint3Df &pt,
                                bool &pt_has_color,
                                mrpt::utils::TColorf &pt_color) const = 0;

                        /** @} */

                private:
                        mutable std::string  m_ply_export_last_error;

                }; // End of class def.

        } // End of namespace
} // end of namespace
#endif