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consider global placement when exporting point cloud

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This commit is contained in:
wmayer
2018-09-05 22:18:55 +02:00
parent bd8d62d0e3
commit 17ce026f57
3 changed files with 90 additions and 22 deletions
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105
src/Mod/Points/App/PointsAlgos.cpp
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@@ -1334,6 +1334,11 @@ void Writer::setHeight(int h)
height = h;
}
void Writer::setPlacement(const Base::Placement& p)
{
placement = p;
}
// ----------------------------------------------------------------------------
AscWriter::AscWriter(const PointKernel& p) : Writer(p)
@@ -1346,7 +1351,14 @@ AscWriter::~AscWriter()
void AscWriter::write(const std::string& filename)
{
points.save(filename.c_str());
if (placement.isIdentity()) {
points.save(filename.c_str());
}
else {
PointKernel copy = points;
copy.transformGeometry(placement.toMatrix());
copy.save(filename.c_str());
}
}
// ----------------------------------------------------------------------------
@@ -1416,10 +1428,22 @@ void PlyWriter::write(const std::string& filename)
Eigen::MatrixXf data(numPoints, properties.size());
for (std::size_t i=0; i<numPoints; i++) {
data(i,0) = pts[i].x;
data(i,1) = pts[i].y;
data(i,2) = pts[i].z;
if (placement.isIdentity()) {
for (std::size_t i=0; i<numPoints; i++) {
data(i,0) = pts[i].x;
data(i,1) = pts[i].y;
data(i,2) = pts[i].z;
}
}
else {
Base::Vector3d tmp;
for (std::size_t i=0; i<numPoints; i++) {
tmp = Base::convertTo<Base::Vector3d>(pts[i]);
placement.multVec(tmp, tmp);
data(i,0) = static_cast<float>(tmp.x);
data(i,1) = static_cast<float>(tmp.y);
data(i,2) = static_cast<float>(tmp.z);
}
}
std::size_t col = 3;
@@ -1427,10 +1451,23 @@ void PlyWriter::write(const std::string& filename)
int col0 = col;
int col1 = col+1;
int col2 = col+2;
for (std::size_t i=0; i<numPoints; i++) {
data(i,col0) = normals[i].x;
data(i,col1) = normals[i].y;
data(i,col2) = normals[i].z;
Base::Rotation rot = placement.getRotation();
if (rot.isIdentity()) {
for (std::size_t i=0; i<numPoints; i++) {
data(i,col0) = normals[i].x;
data(i,col1) = normals[i].y;
data(i,col2) = normals[i].z;
}
}
else {
Base::Vector3d tmp;
for (std::size_t i=0; i<numPoints; i++) {
tmp = Base::convertTo<Base::Vector3d>(normals[i]);
rot.multVec(tmp, tmp);
data(i,col0) = static_cast<float>(tmp.x);
data(i,col1) = static_cast<float>(tmp.y);
data(i,col2) = static_cast<float>(tmp.z);
}
}
col += 3;
}
@@ -1542,13 +1579,26 @@ void PcdWriter::write(const std::string& filename)
}
std::size_t numPoints = points.size();
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
Eigen::MatrixXf data(numPoints, fields.size());
const std::vector<Base::Vector3f>& pts = points.getBasicPoints();
for (std::size_t i=0; i<numPoints; i++) {
data(i,0) = pts[i].x;
data(i,1) = pts[i].y;
data(i,2) = pts[i].z;
if (placement.isIdentity()) {
for (std::size_t i=0; i<numPoints; i++) {
data(i,0) = pts[i].x;
data(i,1) = pts[i].y;
data(i,2) = pts[i].z;
}
}
else {
Base::Vector3d tmp;
for (std::size_t i=0; i<numPoints; i++) {
tmp = Base::convertTo<Base::Vector3d>(pts[i]);
placement.multVec(tmp, tmp);
data(i,0) = static_cast<float>(tmp.x);
data(i,1) = static_cast<float>(tmp.y);
data(i,2) = static_cast<float>(tmp.z);
}
}
std::size_t col = 3;
@@ -1556,10 +1606,23 @@ void PcdWriter::write(const std::string& filename)
int col0 = col;
int col1 = col+1;
int col2 = col+2;
for (std::size_t i=0; i<numPoints; i++) {
data(i,col0) = normals[i].x;
data(i,col1) = normals[i].y;
data(i,col2) = normals[i].z;
Base::Rotation rot = placement.getRotation();
if (rot.isIdentity()) {
for (std::size_t i=0; i<numPoints; i++) {
data(i,col0) = normals[i].x;
data(i,col1) = normals[i].y;
data(i,col2) = normals[i].z;
}
}
else {
Base::Vector3d tmp;
for (std::size_t i=0; i<numPoints; i++) {
tmp = Base::convertTo<Base::Vector3d>(normals[i]);
rot.multVec(tmp, tmp);
data(i,col0) = static_cast<float>(tmp.x);
data(i,col1) = static_cast<float>(tmp.y);
data(i,col2) = static_cast<float>(tmp.z);
}
}
col += 3;
}
@@ -1617,9 +1680,9 @@ void PcdWriter::write(const std::string& filename)
out << "WIDTH " << width << std::endl;
out << "HEIGHT " << height << std::endl;
Base::Placement placement;
Base::Vector3d p = placement.getPosition();
Base::Rotation o = placement.getRotation();
Base::Placement plm;
Base::Vector3d p = plm.getPosition();
Base::Rotation o = plm.getRotation();
double x,y,z,w; o.getValue(x,y,z,w);
out << "VIEWPOINT " << p.x << " " << p.y << " " << p.z
<< " " << w << " " << x << " " << y << " " << z << std::endl;