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+ fixes #0001592: Import colored PCL point clouds

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This commit is contained in:
wmayer
2016-02-14 22:46:27 +01:00
parent 371034608b
commit 1bb662346f
4 changed files with 311 additions and 148 deletions
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206
src/Mod/Points/App/AppPointsPy.cpp
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@@ -23,6 +23,7 @@
#include "PreCompiled.h"
#ifndef _PreComp_
# include <memory>
#endif
// PCL test
@@ -84,64 +85,63 @@ private:
if (file.extension().empty())
throw Py::RuntimeError("No file extension");
std::auto_ptr<Reader> reader;
if (file.hasExtension("asc")) {
// create new document and add Import feature
App::Document *pcDoc = App::GetApplication().newDocument("Unnamed");
Points::Feature *pcFeature = (Points::Feature *)pcDoc->addObject("Points::Feature", file.fileNamePure().c_str());
Points::PointKernel pkTemp;
pkTemp.load(EncodedName.c_str());
pcFeature->Points.setValue( pkTemp );
reader.reset(new AscReader);
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
PlyReader reader;
reader.read(EncodedName);
App::Document *pcDoc = App::GetApplication().newDocument("Unnamed");
if (reader.hasProperties()) {
Points::FeatureCustom *pcFeature = new Points::FeatureCustom();
pcFeature->Points.setValue(reader.getPoints());
// add gray values
if (reader.hasIntensities()) {
Points::PropertyGreyValueList* prop = static_cast<Points::PropertyGreyValueList*>
(pcFeature->addDynamicProperty("Points::PropertyGreyValueList", "Intensity"));
if (prop) {
prop->setValues(reader.getIntensities());
}
}
// add colors
if (reader.hasColors()) {
App::PropertyColorList* prop = static_cast<App::PropertyColorList*>
(pcFeature->addDynamicProperty("App::PropertyColorList", "Color"));
if (prop) {
prop->setValues(reader.getColors());
}
}
// add normals
if (reader.hasNormals()) {
Points::PropertyNormalList* prop = static_cast<Points::PropertyNormalList*>
(pcFeature->addDynamicProperty("Points::PropertyNormalList", "Normal"));
if (prop) {
prop->setValues(reader.getNormals());
}
}
// delayed adding of the points feature
pcDoc->addObject(pcFeature, file.fileNamePure().c_str());
pcDoc->recomputeFeature(pcFeature);
}
else {
Points::Feature *pcFeature = static_cast<Points::Feature*>
(pcDoc->addObject("Points::Feature", file.fileNamePure().c_str()));
pcFeature->Points.setValue(reader.getPoints());
pcDoc->recomputeFeature(pcFeature);
}
reader.reset(new PlyReader);
}
else if (file.hasExtension("pcd")) {
reader.reset(new PcdReader);
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}
reader->read(EncodedName);
App::Document *pcDoc = App::GetApplication().newDocument("Unnamed");
if (reader->hasProperties()) {
Points::FeatureCustom *pcFeature = new Points::FeatureCustom();
pcFeature->Points.setValue(reader->getPoints());
// add gray values
if (reader->hasIntensities()) {
Points::PropertyGreyValueList* prop = static_cast<Points::PropertyGreyValueList*>
(pcFeature->addDynamicProperty("Points::PropertyGreyValueList", "Intensity"));
if (prop) {
prop->setValues(reader->getIntensities());
}
}
// add colors
if (reader->hasColors()) {
App::PropertyColorList* prop = static_cast<App::PropertyColorList*>
(pcFeature->addDynamicProperty("App::PropertyColorList", "Color"));
if (prop) {
prop->setValues(reader->getColors());
}
}
// add normals
if (reader->hasNormals()) {
Points::PropertyNormalList* prop = static_cast<Points::PropertyNormalList*>
(pcFeature->addDynamicProperty("Points::PropertyNormalList", "Normal"));
if (prop) {
prop->setValues(reader->getNormals());
}
}
// delayed adding of the points feature
pcDoc->addObject(pcFeature, file.fileNamePure().c_str());
pcDoc->recomputeFeature(pcFeature);
}
else {
Points::Feature *pcFeature = static_cast<Points::Feature*>
(pcDoc->addObject("Points::Feature", file.fileNamePure().c_str()));
pcFeature->Points.setValue(reader->getPoints());
pcDoc->recomputeFeature(pcFeature);
}
}
catch (const Base::Exception& e) {
throw Py::RuntimeError(e.what());
@@ -167,71 +167,67 @@ private:
if (file.extension().empty())
throw Py::RuntimeError("No file extension");
std::auto_ptr<Reader> reader;
if (file.hasExtension("asc")) {
// add Import feature
App::Document *pcDoc = App::GetApplication().getDocument(DocName);
if (!pcDoc) {
pcDoc = App::GetApplication().newDocument(DocName);
}
Points::Feature *pcFeature = (Points::Feature *)pcDoc->addObject("Points::Feature", file.fileNamePure().c_str());
Points::PointKernel pkTemp;
pkTemp.load(EncodedName.c_str());
pcFeature->Points.setValue( pkTemp );
reader.reset(new AscReader);
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
App::Document *pcDoc = App::GetApplication().getDocument(DocName);
if (!pcDoc) {
pcDoc = App::GetApplication().newDocument(DocName);
}
PlyReader reader;
reader.read(EncodedName);
if (reader.hasProperties()) {
Points::FeatureCustom *pcFeature = new Points::FeatureCustom();
pcFeature->Points.setValue(reader.getPoints());
// add gray values
if (reader.hasIntensities()) {
Points::PropertyGreyValueList* prop = static_cast<Points::PropertyGreyValueList*>
(pcFeature->addDynamicProperty("Points::PropertyGreyValueList", "Intensity"));
if (prop) {
prop->setValues(reader.getIntensities());
}
}
// add colors
if (reader.hasColors()) {
App::PropertyColorList* prop = static_cast<App::PropertyColorList*>
(pcFeature->addDynamicProperty("App::PropertyColorList", "Color"));
if (prop) {
prop->setValues(reader.getColors());
}
}
// add normals
if (reader.hasNormals()) {
Points::PropertyNormalList* prop = static_cast<Points::PropertyNormalList*>
(pcFeature->addDynamicProperty("Points::PropertyNormalList", "Normal"));
if (prop) {
prop->setValues(reader.getNormals());
}
}
// delayed adding of the points feature
pcDoc->addObject(pcFeature, file.fileNamePure().c_str());
pcDoc->recomputeFeature(pcFeature);
}
else {
Points::Feature *pcFeature = static_cast<Points::Feature*>
(pcDoc->addObject("Points::Feature", file.fileNamePure().c_str()));
pcFeature->Points.setValue(reader.getPoints());
pcDoc->recomputeFeature(pcFeature);
}
reader.reset(new PlyReader);
}
else if (file.hasExtension("pcd")) {
reader.reset(new PcdReader);
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}
reader->read(EncodedName);
App::Document *pcDoc = App::GetApplication().getDocument(DocName);
if (!pcDoc) {
pcDoc = App::GetApplication().newDocument(DocName);
}
if (reader->hasProperties()) {
Points::FeatureCustom *pcFeature = new Points::FeatureCustom();
pcFeature->Points.setValue(reader->getPoints());
// add gray values
if (reader->hasIntensities()) {
Points::PropertyGreyValueList* prop = static_cast<Points::PropertyGreyValueList*>
(pcFeature->addDynamicProperty("Points::PropertyGreyValueList", "Intensity"));
if (prop) {
prop->setValues(reader->getIntensities());
}
}
// add colors
if (reader->hasColors()) {
App::PropertyColorList* prop = static_cast<App::PropertyColorList*>
(pcFeature->addDynamicProperty("App::PropertyColorList", "Color"));
if (prop) {
prop->setValues(reader->getColors());
}
}
// add normals
if (reader->hasNormals()) {
Points::PropertyNormalList* prop = static_cast<Points::PropertyNormalList*>
(pcFeature->addDynamicProperty("Points::PropertyNormalList", "Normal"));
if (prop) {
prop->setValues(reader->getNormals());
}
}
// delayed adding of the points feature
pcDoc->addObject(pcFeature, file.fileNamePure().c_str());
pcDoc->recomputeFeature(pcFeature);
}
else {
Points::Feature *pcFeature = static_cast<Points::Feature*>
(pcDoc->addObject("Points::Feature", file.fileNamePure().c_str()));
pcFeature->Points.setValue(reader->getPoints());
pcDoc->recomputeFeature(pcFeature);
}
}
catch (const Base::Exception& e) {
throw Py::RuntimeError(e.what());