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implement own ply/pcd importer/exporter

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This commit is contained in:
wmayer
2017-11-03 17:03:51 +01:00
parent d76cccac32
commit e0d5d92cde
4 changed files with 1217 additions and 437 deletions
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12
src/Mod/Points/App/AppPointsPy.cpp
View File

@@ -26,12 +26,6 @@
# include <memory>
#endif
// PCL test
#ifdef HAVE_PCL_IO
# include <iostream>
# include <pcl/io/ply_io.h>
# include <pcl/point_types.h>
#endif
#include <CXX/Extensions.hxx>
#include <CXX/Objects.hxx>
@@ -93,14 +87,12 @@ private:
if (file.hasExtension("asc")) {
reader.reset(new AscReader);
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
reader.reset(new PlyReader);
}
else if (file.hasExtension("pcd")) {
reader.reset(new PcdReader);
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}
@@ -207,14 +199,12 @@ private:
if (file.hasExtension("asc")) {
reader.reset(new AscReader);
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
reader.reset(new PlyReader);
}
else if (file.hasExtension("pcd")) {
reader.reset(new PcdReader);
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}
@@ -324,14 +314,12 @@ private:
if (file.hasExtension("asc")) {
writer.reset(new AscWriter(kernel));
}
#ifdef HAVE_PCL_IO
else if (file.hasExtension("ply")) {
writer.reset(new PlyWriter(kernel));
}
else if (file.hasExtension("pcd")) {
writer.reset(new PcdWriter(kernel));
}
#endif
else {
throw Py::RuntimeError("Unsupported file extension");
}

10
src/Mod/Points/App/CMakeLists.txt
View File

@@ -2,28 +2,18 @@ if(WIN32)
add_definitions(-DFCAppPoints)
endif(WIN32)
if(PCL_IO_FOUND)
add_definitions(-DHAVE_PCL_IO)
elseif(PCL_FOUND)
message(WARNING "pcl installed but io component not found")
endif(PCL_IO_FOUND)
include_directories(
${CMAKE_CURRENT_BINARY_DIR}
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
${QT_QTCORE_INCLUDE_DIR}
${XercesC_INCLUDE_DIRS}
${ZLIB_INCLUDE_DIR}
)
set(Points_LIBS
FreeCADApp
${PCL_COMMON_LIBRARIES}
${PCL_IO_LIBRARIES}
)
generate_from_xml(PointsPy)

1608
src/Mod/Points/App/PointsAlgos.cpp
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File diff suppressed because it is too large Load Diff

24
src/Mod/Points/App/PointsAlgos.h
View File

@@ -26,6 +26,7 @@
#include "Points.h"
#include "Properties.h"
#include <Eigen/Core>
namespace Points
{
@@ -79,13 +80,22 @@ public:
void read(const std::string& filename);
};
#ifdef HAVE_PCL_IO
class PlyReader : public Reader
{
public:
PlyReader();
~PlyReader();
void read(const std::string& filename);
private:
std::size_t readHeader(std::istream&, std::string& format, std::size_t& offset,
std::vector<std::string>& fields, std::vector<std::string>& types,
std::vector<int>& sizes);
void readAscii(std::istream&, std::size_t offset, Eigen::MatrixXd& data);
void readBinary(bool swapByteOrder, std::istream&, std::size_t offset,
const std::vector<std::string>& types,
const std::vector<int>& sizes,
Eigen::MatrixXd& data);
};
class PcdReader : public Reader
@@ -94,8 +104,16 @@ public:
PcdReader();
~PcdReader();
void read(const std::string& filename);
private:
std::size_t readHeader(std::istream&, std::string& format, std::vector<std::string>& fields,
std::vector<std::string>& types, std::vector<int>& sizes);
void readAscii(std::istream&, Eigen::MatrixXd& data);
void readBinary(bool transpose, std::istream&,
const std::vector<std::string>& types,
const std::vector<int>& sizes,
Eigen::MatrixXd& data);
};
#endif
class Writer
{
@@ -126,7 +144,6 @@ public:
void write(const std::string& filename);
};
#ifdef HAVE_PCL_IO
class PlyWriter : public Writer
{
public:
@@ -142,7 +159,6 @@ public:
~PcdWriter();
void write(const std::string& filename);
};
#endif
} // namespace Points