kopia lustrzana https://github.com/OpenDroneMap/ODM
Modified odm_georef to preserve double coordinates precision when applying transform to point cloud
Former-commit-id: 1bd40c0dea
pull/1161/head
Piero Toffanin
rodzic
f93f8d70a3
commit
7c9edcf43a
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@ -9,8 +9,7 @@ find_library(PROJ4_LIBRARY "libproj.so" PATHS "/usr/lib" "/usr/lib/x86_64-linux-
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#set(PROJ4_LIBRARY "/usr/lib/x86_64-linux-gnu/libproj.so" CACHE "PROJ4_LIBRARY" "Path to the proj4 library directory")
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# Add compiler options.
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add_definitions(-Wall -Wextra -Wconversion -pedantic)
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#add_definitions(-pedantic -pedantic-errors -Wall -Wextra -Werror -Wfatal-errors -Wabi -Wctor-dtor-privacy -Wnon-virtual-dtor -Wreorder -Weffc++ -Wstrict-null-sentinel -Wnon-template-friend -Wold-style-cast -Woverloaded-virtual -Wpmf-conversions -Wsign-promo -Waddress -Warray-bounds -Wattributes -Wbuiltin-macro-redefined -Wc++0x-compat -Wcast-align -Wcast-qual -Wchar-subscripts -Wclobbered -Wcomment -Wconversion -Wcoverage-mismatch -Wdeprecated -Wdeprecated-declarations -Wdisabled-optimization -Wdiv-by-zero -Wempty-body -Wenum-compare -Wendif-labels -Wfatal-errors -Wfloat-equal -Wformat -Wformat=2 -Wformat-contains-nul -Wformat-extra-args -Wformat-nonliteral -Wformat-security -Wformat-y2k -Wignored-qualifiers -Winit-self -Wint-to-pointer-cast -Winvalid-offsetof -Winvalid-pch -Wlogical-op -Wmain -Wvariadic-macros -Wmissing-braces -Wmissing-field-initializers -Wmissing-include-dirs -Wmissing-noreturn -Wvla -Wmultichar -Wfatal-errors -Wnonnull -Woverflow -Woverlength-strings -Wpacked -Wpacked-bitfield-compat -Wparentheses -Wpointer-arith -Wredundant-decls -Wsequence-point -Wshadow -Wsign-compare -Wsign-conversion -Wstack-protector -Wstrict-overflow=5 -Wswitch -Wswitch-enum -Wsync-nand -Wvolatile-register-var -Wtrigraphs -Wtype-limits -Wuninitialized -Wunknown-pragmas -Wwrite-strings -Wpragmas -Wunreachable-code -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-value -Wunused-variable -Wno-return-type)
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add_definitions(-Wall -Wextra -Wconversion -pedantic -std=c++11)
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# Find pcl at the location specified by PCL_DIR
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find_package(PCL 1.8 HINTS "${PCL_DIR}/share/pcl-1.8")
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@ -1280,27 +1280,27 @@ void Georef::printFinalTransform(Mat4 transform)
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void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud)
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{
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Eigen::Transform<float, 3, Eigen::Affine> transform;
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Eigen::Transform<double, 3, Eigen::Affine> transform;
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transform(0, 0) = static_cast<float>(transMat.r1c1_);
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transform(1, 0) = static_cast<float>(transMat.r2c1_);
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transform(2, 0) = static_cast<float>(transMat.r3c1_);
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transform(3, 0) = static_cast<float>(transMat.r4c1_);
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transform(0, 0) = static_cast<double>(transMat.r1c1_);
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transform(1, 0) = static_cast<double>(transMat.r2c1_);
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transform(2, 0) = static_cast<double>(transMat.r3c1_);
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transform(3, 0) = static_cast<double>(transMat.r4c1_);
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transform(0, 1) = static_cast<float>(transMat.r1c2_);
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transform(1, 1) = static_cast<float>(transMat.r2c2_);
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transform(2, 1) = static_cast<float>(transMat.r3c2_);
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transform(3, 1) = static_cast<float>(transMat.r4c2_);
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transform(0, 1) = static_cast<double>(transMat.r1c2_);
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transform(1, 1) = static_cast<double>(transMat.r2c2_);
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transform(2, 1) = static_cast<double>(transMat.r3c2_);
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transform(3, 1) = static_cast<double>(transMat.r4c2_);
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transform(0, 2) = static_cast<float>(transMat.r1c3_);
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transform(1, 2) = static_cast<float>(transMat.r2c3_);
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transform(2, 2) = static_cast<float>(transMat.r3c3_);
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transform(3, 2) = static_cast<float>(transMat.r4c3_);
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transform(0, 2) = static_cast<double>(transMat.r1c3_);
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transform(1, 2) = static_cast<double>(transMat.r2c3_);
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transform(2, 2) = static_cast<double>(transMat.r3c3_);
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transform(3, 2) = static_cast<double>(transMat.r4c3_);
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transform(0, 3) = static_cast<float>(transMat.r1c4_);
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transform(1, 3) = static_cast<float>(transMat.r2c4_);
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transform(2, 3) = static_cast<float>(transMat.r3c4_);
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transform(3, 3) = static_cast<float>(transMat.r4c4_);
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transform(0, 3) = static_cast<double>(transMat.r1c4_);
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transform(1, 3) = static_cast<double>(transMat.r2c4_);
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transform(2, 3) = static_cast<double>(transMat.r3c4_);
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transform(3, 3) = static_cast<double>(transMat.r4c4_);
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// Iterate over each part of the mesh (one per material), to make texture file paths relative the .mtl file.
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for(size_t t = 0; t < mesh.tex_materials.size(); ++t)
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@ -1327,27 +1327,7 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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if(georeferencePointCloud_)
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{
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//pcl::PointCloud2<pcl::PointNormal>::Ptr pointCloud;
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>());
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if(pcl::io::loadPLYFile<pcl::PointXYZRGBNormal> (inputPointCloudFilename_.c_str(), *pointCloud.get()) == -1) {
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throw GeorefException("Error when reading point cloud:\n" + inputPointCloudFilename_ + "\n");
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}
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else
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{
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log_ << "Successfully loaded " << pointCloud->size() << " points with corresponding normals from file.\n";
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}
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log_ << '\n';
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log_ << "Applying transform to point cloud...\n";
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pcl::transformPointCloud(*pointCloud, *pointCloud, transform);
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log_ << ".. point cloud transformed.\n";
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pcl::PLYWriter plyWriter;
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log_ << '\n';
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log_ << "Saving point cloud file to \'" << outputPointCloudFilename_ << "\'...\n";
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//pcl::io::savePLYFileASCII(outputPointCloudFilename_.c_str(), *pointCloud.get());
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plyWriter.write(outputPointCloudFilename_.c_str(), *pointCloud.get(), false, false);
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log_ << ".. point cloud file saved.\n";
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transformPointCloud(inputPointCloudFilename_.c_str(), transform, outputPointCloudFilename_.c_str());
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}
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if(exportCoordinateFile_)
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@ -1374,6 +1354,79 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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}
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}
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template <typename Scalar>
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void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform, const char *outputFile){
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try{
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std::ifstream ss(inputFile, std::ios::binary);
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if (ss.fail()) throw GeorefException("Error when reading point cloud:\n" + std::string(inputFile) + "\n");
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PlyFile file;
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file.parse_header(ss);
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std::shared_ptr<PlyData> vertices = file.request_properties_from_element("vertex", { "x", "y", "z" });
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std::shared_ptr<PlyData> normals = file.request_properties_from_element("vertex", { "nx", "ny", "nz" });
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std::shared_ptr<PlyData> colors = file.request_properties_from_element("vertex", { "diffuse_red", "diffuse_green", "diffuse_blue" });
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file.read(ss);
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log_ << "Successfully loaded " << vertices->count << " points with corresponding normals from file.\n";
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const size_t numVerticesBytes = vertices->buffer.size_bytes();
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struct float3 { float x, y, z; };
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struct double3 { double x, y, z; };
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std::vector<double3> verts(vertices->count);
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if (vertices->t == tinyply::Type::FLOAT32) {
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std::vector<float3> floatVerts(vertices->count);
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std::memcpy(floatVerts.data(), vertices->buffer.get(), numVerticesBytes);
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// Copy and cast to double
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for (unsigned int i = 0; i < vertices->count; i++){
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verts[i].x = static_cast<double>(floatVerts[i].x);
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verts[i].y = static_cast<double>(floatVerts[i].y);
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verts[i].z = static_cast<double>(floatVerts[i].z);
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}
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}else if (vertices->t == tinyply::Type::FLOAT64) {
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std::memcpy(verts.data(), vertices->buffer.get(), numVerticesBytes);
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}else{
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GeorefException ("Invalid data type (only float32 and float64 are supported): " + std::to_string((int)vertices->t));
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}
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// Transform
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for (unsigned int i = 0; i < verts.size(); i++){
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verts[i].x = static_cast<Scalar> (transform (0, 0) * verts[i].x + transform (0, 1) * verts[i].y + transform (0, 2) * verts[i].z + transform (0, 3));
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verts[i].y = static_cast<Scalar> (transform (1, 0) * verts[i].x + transform (1, 1) * verts[i].y + transform (1, 2) * verts[i].z + transform (1, 3));
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verts[i].z = static_cast<Scalar> (transform (2, 0) * verts[i].x + transform (2, 1) * verts[i].y + transform (2, 2) * verts[i].z + transform (2, 3));
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}
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log_ << '\n';
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log_ << "Saving point cloud file to \'" << outputFile << "\'...\n";
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// Save
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std::filebuf fb;
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fb.open(outputFile, std::ios::out | std::ios::binary);
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std::ostream outputStream(&fb);
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outputStream << std::setprecision(12);
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PlyFile outFile;
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outFile.add_properties_to_element("vertex", { "x", "y", "z" }, Type::FLOAT64, verts.size() * 3, reinterpret_cast<uint8_t*>(verts.data()), Type::INVALID, 0);
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outFile.add_properties_to_element("vertex", { "nx", "ny", "nz" }, Type::FLOAT32, verts.size() * 3, reinterpret_cast<uint8_t*>(normals->buffer.get()), Type::INVALID, 0);
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outFile.add_properties_to_element("vertex", { "red", "green", "blue" }, Type::UINT8, verts.size() * 3, reinterpret_cast<uint8_t*>(colors->buffer.get()), Type::INVALID, 0);
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outFile.get_comments().push_back("generated by OpenDroneMap");
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outFile.write(outputStream, false);
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fb.close();
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log_ << ".. point cloud file saved.\n";
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}
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catch (const std::exception & e)
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{
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throw GeorefException("Error while loading point cloud: " + std::string(e.what()));
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}
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}
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bool Georef::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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{
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int data_type;
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@ -11,6 +11,9 @@
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// Modified PCL
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#include "modifiedPclFunctions.hpp"
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#include "tinyply.h"
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using namespace tinyply;
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// Logger
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#include "Logger.hpp"
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@ -290,7 +293,10 @@ private:
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std::vector<pcl::MTLReader> companions_; /**< Materials (used by loadOBJFile). **/
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void performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud);
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template <typename Scalar>
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void transformPointCloud(const char *inputFile, const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform, const char *outputFile);
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void createGeoreferencedModelFromSFM();
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};
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@ -7,7 +7,6 @@
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// PCL
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#include <pcl/point_types.h>
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#include <pcl/surface/texture_mapping.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/io/obj_io.h>
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int saveOBJFile(const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision);
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@ -0,0 +1,621 @@
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// This software is in the public domain. Where that dedication is not
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// recognized, you are granted a perpetual, irrevocable license to copy,
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// distribute, and modify this file as you see fit.
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// Authored in 2015 by Dimitri Diakopoulos (http://www.dimitridiakopoulos.com)
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// https://github.com/ddiakopoulos/tinyply
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// Version 2.0
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#include "tinyply.h"
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#include <algorithm>
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#include <functional>
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#include <type_traits>
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#include <iostream>
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#include <cstring>
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using namespace tinyply;
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using namespace std;
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//////////////////
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// Endian Utils //
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//////////////////
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template<typename T> T endian_swap(const T & v) { return v; }
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template<> inline uint16_t endian_swap(const uint16_t & v) { return (v << 8) | (v >> 8); }
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template<> inline uint32_t endian_swap(const uint32_t & v) { return (v << 24) | ((v << 8) & 0x00ff0000) | ((v >> 8) & 0x0000ff00) | (v >> 24); }
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template<> inline uint64_t endian_swap(const uint64_t & v)
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{
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return (((v & 0x00000000000000ffLL) << 56) |
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((v & 0x000000000000ff00LL) << 40) |
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((v & 0x0000000000ff0000LL) << 24) |
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((v & 0x00000000ff000000LL) << 8) |
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((v & 0x000000ff00000000LL) >> 8) |
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((v & 0x0000ff0000000000LL) >> 24) |
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((v & 0x00ff000000000000LL) >> 40) |
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((v & 0xff00000000000000LL) >> 56));
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}
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template<> inline int16_t endian_swap(const int16_t & v) { uint16_t r = endian_swap(*(uint16_t*)&v); return *(int16_t*)&r; }
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template<> inline int32_t endian_swap(const int32_t & v) { uint32_t r = endian_swap(*(uint32_t*)&v); return *(int32_t*)&r; }
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template<> inline int64_t endian_swap(const int64_t & v) { uint64_t r = endian_swap(*(uint64_t*)&v); return *(int64_t*)&r; }
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inline float endian_swap_float(const uint32_t & v) { union { float f; uint32_t i; }; i = endian_swap(v); return f; }
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inline double endian_swap_double(const uint64_t & v) { union { double d; uint64_t i; }; i = endian_swap(v); return d; }
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/////////////////////////////
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// Internal Implementation //
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/////////////////////////////
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inline Type property_type_from_string(const std::string & t)
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{
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if (t == "int8" || t == "char") return Type::INT8;
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else if (t == "uint8" || t == "uchar") return Type::UINT8;
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else if (t == "int16" || t == "short") return Type::INT16;
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else if (t == "uint16" || t == "ushort") return Type::UINT16;
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else if (t == "int32" || t == "int") return Type::INT32;
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else if (t == "uint32" || t == "uint") return Type::UINT32;
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else if (t == "float32" || t == "float") return Type::FLOAT32;
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else if (t == "float64" || t == "double") return Type::FLOAT64;
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return Type::INVALID;
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}
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struct PlyFile::PlyFileImpl
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{
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struct PlyCursor
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{
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size_t byteOffset;
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size_t totalSizeBytes;
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};
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struct ParsingHelper
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{
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std::shared_ptr<PlyData> data;
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std::shared_ptr<PlyCursor> cursor;
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};
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std::map<std::string, ParsingHelper> userData;
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bool isBinary = false;
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bool isBigEndian = false;
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std::vector<PlyElement> elements;
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std::vector<std::string> comments;
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std::vector<std::string> objInfo;
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void read(std::istream & is);
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void write(std::ostream & os, bool isBinary);
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std::shared_ptr<PlyData> request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys);
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void add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount);
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size_t read_property_binary(const Type t, void * dest, size_t & destOffset, std::istream & is);
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size_t read_property_ascii(const Type t, void * dest, size_t & destOffset, std::istream & is);
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size_t skip_property_binary(const PlyProperty & property, std::istream & is);
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size_t skip_property_ascii(const PlyProperty & property, std::istream & is);
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bool parse_header(std::istream & is);
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void parse_data(std::istream & is, bool firstPass);
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void read_header_format(std::istream & is);
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void read_header_element(std::istream & is);
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void read_header_property(std::istream & is);
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void read_header_text(std::string line, std::vector<std::string> & place, int erase = 0);
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void write_header(std::ostream & os);
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void write_ascii_internal(std::ostream & os);
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void write_binary_internal(std::ostream & os);
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void write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset);
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void write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset);
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};
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//////////////////
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// PLY Property //
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||||
//////////////////
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||||
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||||
PlyProperty::PlyProperty(std::istream & is) : isList(false)
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||||
{
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std::string type;
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is >> type;
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||||
if (type == "list")
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||||
{
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std::string countType;
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is >> countType >> type;
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listType = property_type_from_string(countType);
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isList = true;
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}
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propertyType = property_type_from_string(type);
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is >> name;
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}
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/////////////////
|
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// PLY Element //
|
||||
/////////////////
|
||||
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||||
PlyElement::PlyElement(std::istream & is)
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||||
{
|
||||
is >> name >> size;
|
||||
}
|
||||
|
||||
///////////
|
||||
// Utils //
|
||||
///////////
|
||||
|
||||
std::string make_key(const std::string & a, const std::string & b)
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||||
{
|
||||
return (a + "-" + b);
|
||||
}
|
||||
|
||||
template<typename T> void ply_cast(void * dest, const char * src, bool be)
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||||
{
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||||
*(static_cast<T *>(dest)) = (be) ? endian_swap(*(reinterpret_cast<const T *>(src))) : *(reinterpret_cast<const T *>(src));
|
||||
}
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||||
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template<typename T> void ply_cast_float(void * dest, const char * src, bool be)
|
||||
{
|
||||
*(static_cast<T *>(dest)) = (be) ? endian_swap_float(*(reinterpret_cast<const uint32_t *>(src))) : *(reinterpret_cast<const T *>(src));
|
||||
}
|
||||
|
||||
template<typename T> void ply_cast_double(void * dest, const char * src, bool be)
|
||||
{
|
||||
*(static_cast<T *>(dest)) = (be) ? endian_swap_double(*(reinterpret_cast<const uint64_t *>(src))) : *(reinterpret_cast<const T *>(src));
|
||||
}
|
||||
|
||||
template<typename T> T ply_read_ascii(std::istream & is)
|
||||
{
|
||||
T data;
|
||||
is >> data;
|
||||
return data;
|
||||
}
|
||||
|
||||
template<typename T> void ply_cast_ascii(void * dest, std::istream & is)
|
||||
{
|
||||
*(static_cast<T *>(dest)) = ply_read_ascii<T>(is);
|
||||
}
|
||||
|
||||
size_t find_element(const std::string & key, const std::vector<PlyElement> & list)
|
||||
{
|
||||
for (size_t i = 0; i < list.size(); i++) if (list[i].name == key) return i;
|
||||
return -1;
|
||||
}
|
||||
|
||||
size_t find_property(const std::string & key, const std::vector<PlyProperty> & list)
|
||||
{
|
||||
for (size_t i = 0; i < list.size(); ++i) if (list[i].name == key) return i;
|
||||
return -1;
|
||||
}
|
||||
|
||||
//////////////
|
||||
// PLY File //
|
||||
//////////////
|
||||
|
||||
bool PlyFile::PlyFileImpl::parse_header(std::istream & is)
|
||||
{
|
||||
std::string line;
|
||||
while (std::getline(is, line))
|
||||
{
|
||||
std::istringstream ls(line);
|
||||
std::string token;
|
||||
ls >> token;
|
||||
if (token == "ply" || token == "PLY" || token == "") continue;
|
||||
else if (token == "comment") read_header_text(line, comments, 8);
|
||||
else if (token == "format") read_header_format(ls);
|
||||
else if (token == "element") read_header_element(ls);
|
||||
else if (token == "property") read_header_property(ls);
|
||||
else if (token == "obj_info") read_header_text(line, objInfo, 9);
|
||||
else if (token == "end_header") break;
|
||||
else return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::read_header_text(std::string line, std::vector<std::string>& place, int erase)
|
||||
{
|
||||
place.push_back((erase > 0) ? line.erase(0, erase) : line);
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::read_header_format(std::istream & is)
|
||||
{
|
||||
std::string s;
|
||||
(is >> s);
|
||||
if (s == "binary_little_endian") isBinary = true;
|
||||
else if (s == "binary_big_endian") isBinary = isBigEndian = true;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::read_header_element(std::istream & is)
|
||||
{
|
||||
elements.emplace_back(is);
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::read_header_property(std::istream & is)
|
||||
{
|
||||
elements.back().properties.emplace_back(is);
|
||||
}
|
||||
|
||||
size_t PlyFile::PlyFileImpl::skip_property_binary(const PlyProperty & p, std::istream & is)
|
||||
{
|
||||
static std::vector<char> skip(PropertyTable[p.propertyType].stride);
|
||||
if (p.isList)
|
||||
{
|
||||
size_t listSize = 0;
|
||||
size_t dummyCount = 0;
|
||||
read_property_binary(p.listType, &listSize, dummyCount, is);
|
||||
for (size_t i = 0; i < listSize; ++i) is.read(skip.data(), PropertyTable[p.propertyType].stride);
|
||||
return listSize * PropertyTable[p.propertyType].stride; // in bytes
|
||||
}
|
||||
else
|
||||
{
|
||||
is.read(skip.data(), PropertyTable[p.propertyType].stride);
|
||||
return PropertyTable[p.propertyType].stride;
|
||||
}
|
||||
}
|
||||
|
||||
size_t PlyFile::PlyFileImpl::skip_property_ascii(const PlyProperty & p, std::istream & is)
|
||||
{
|
||||
std::string skip;
|
||||
if (p.isList)
|
||||
{
|
||||
size_t listSize = 0;
|
||||
size_t dummyCount = 0;
|
||||
read_property_ascii(p.listType, &listSize, dummyCount, is);
|
||||
for (size_t i = 0; i < listSize; ++i) is >> skip;
|
||||
return listSize * PropertyTable[p.propertyType].stride; // in bytes
|
||||
}
|
||||
else
|
||||
{
|
||||
is >> skip;
|
||||
return PropertyTable[p.propertyType].stride;
|
||||
}
|
||||
}
|
||||
|
||||
size_t PlyFile::PlyFileImpl::read_property_binary(const Type t, void * dest, size_t & destOffset, std::istream & is)
|
||||
{
|
||||
destOffset += PropertyTable[t].stride;
|
||||
|
||||
std::vector<char> src(PropertyTable[t].stride);
|
||||
is.read(src.data(), PropertyTable[t].stride);
|
||||
|
||||
switch (t)
|
||||
{
|
||||
case Type::INT8: ply_cast<int8_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::UINT8: ply_cast<uint8_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::INT16: ply_cast<int16_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::UINT16: ply_cast<uint16_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::INT32: ply_cast<int32_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::UINT32: ply_cast<uint32_t>(dest, src.data(), isBigEndian); break;
|
||||
case Type::FLOAT32: ply_cast_float<float>(dest, src.data(), isBigEndian); break;
|
||||
case Type::FLOAT64: ply_cast_double<double>(dest, src.data(), isBigEndian); break;
|
||||
case Type::INVALID: throw std::invalid_argument("invalid ply property");
|
||||
}
|
||||
|
||||
return PropertyTable[t].stride;
|
||||
}
|
||||
|
||||
size_t PlyFile::PlyFileImpl::read_property_ascii(const Type t, void * dest, size_t & destOffset, std::istream & is)
|
||||
{
|
||||
destOffset += PropertyTable[t].stride;
|
||||
|
||||
switch (t)
|
||||
{
|
||||
case Type::INT8: *((int8_t *)dest) = ply_read_ascii<int32_t>(is); break;
|
||||
case Type::UINT8: *((uint8_t *)dest) = ply_read_ascii<uint32_t>(is); break;
|
||||
case Type::INT16: ply_cast_ascii<int16_t>(dest, is); break;
|
||||
case Type::UINT16: ply_cast_ascii<uint16_t>(dest, is); break;
|
||||
case Type::INT32: ply_cast_ascii<int32_t>(dest, is); break;
|
||||
case Type::UINT32: ply_cast_ascii<uint32_t>(dest, is); break;
|
||||
case Type::FLOAT32: ply_cast_ascii<float>(dest, is); break;
|
||||
case Type::FLOAT64: ply_cast_ascii<double>(dest, is); break;
|
||||
case Type::INVALID: throw std::invalid_argument("invalid ply property");
|
||||
}
|
||||
return PropertyTable[t].stride;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset)
|
||||
{
|
||||
switch (t)
|
||||
{
|
||||
case Type::INT8: os << static_cast<int32_t>(*reinterpret_cast<int8_t*>(src)); break;
|
||||
case Type::UINT8: os << static_cast<uint32_t>(*reinterpret_cast<uint8_t*>(src)); break;
|
||||
case Type::INT16: os << *reinterpret_cast<int16_t*>(src); break;
|
||||
case Type::UINT16: os << *reinterpret_cast<uint16_t*>(src); break;
|
||||
case Type::INT32: os << *reinterpret_cast<int32_t*>(src); break;
|
||||
case Type::UINT32: os << *reinterpret_cast<uint32_t*>(src); break;
|
||||
case Type::FLOAT32: os << *reinterpret_cast<float*>(src); break;
|
||||
case Type::FLOAT64: os << *reinterpret_cast<double*>(src); break;
|
||||
case Type::INVALID: throw std::invalid_argument("invalid ply property");
|
||||
}
|
||||
os << " ";
|
||||
srcOffset += PropertyTable[t].stride;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset)
|
||||
{
|
||||
os.write((char *)src, PropertyTable[t].stride);
|
||||
srcOffset += PropertyTable[t].stride;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::read(std::istream & is)
|
||||
{
|
||||
// Parse but only get the data size
|
||||
parse_data(is, true);
|
||||
|
||||
std::vector<std::shared_ptr<PlyData>> buffers;
|
||||
for (auto & entry : userData) buffers.push_back(entry.second.data);
|
||||
|
||||
// Since group-requested properties share the same cursor, we need to find unique cursors so we only allocate once
|
||||
std::sort(buffers.begin(), buffers.end());
|
||||
buffers.erase(std::unique(buffers.begin(), buffers.end()), buffers.end());
|
||||
|
||||
// Not great, but since we sorted by ptrs on PlyData, need to remap back onto its cursor in the userData table
|
||||
for (auto & b : buffers)
|
||||
{
|
||||
for (auto & entry : userData)
|
||||
{
|
||||
if (entry.second.data == b && b->buffer.get() == nullptr)
|
||||
{
|
||||
b->buffer = Buffer(entry.second.cursor->totalSizeBytes);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Populate the data
|
||||
parse_data(is, false);
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write(std::ostream & os, bool _isBinary)
|
||||
{
|
||||
if (_isBinary) write_binary_internal(os);
|
||||
else write_ascii_internal(os);
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write_binary_internal(std::ostream & os)
|
||||
{
|
||||
isBinary = true;
|
||||
write_header(os);
|
||||
|
||||
for (auto & e : elements)
|
||||
{
|
||||
for (size_t i = 0; i < e.size; ++i)
|
||||
{
|
||||
for (auto & p : e.properties)
|
||||
{
|
||||
auto & helper = userData[make_key(e.name, p.name)];
|
||||
if (p.isList)
|
||||
{
|
||||
uint8_t listSize[4] = {0, 0, 0, 0};
|
||||
std::memcpy(listSize, &p.listCount, sizeof(uint32_t));
|
||||
size_t dummyCount = 0;
|
||||
write_property_binary(p.listType, os, listSize, dummyCount);
|
||||
for (int j = 0; j < p.listCount; ++j)
|
||||
{
|
||||
write_property_binary(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
write_property_binary(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write_ascii_internal(std::ostream & os)
|
||||
{
|
||||
write_header(os);
|
||||
|
||||
for (auto & e : elements)
|
||||
{
|
||||
for (size_t i = 0; i < e.size; ++i)
|
||||
{
|
||||
for (auto & p : e.properties)
|
||||
{
|
||||
auto & helper = userData[make_key(e.name, p.name)];
|
||||
if (p.isList)
|
||||
{
|
||||
os << p.listCount << " ";
|
||||
for (int j = 0; j < p.listCount; ++j)
|
||||
{
|
||||
write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);
|
||||
}
|
||||
}
|
||||
os << "\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::write_header(std::ostream & os)
|
||||
{
|
||||
const std::locale & fixLoc = std::locale("C");
|
||||
os.imbue(fixLoc);
|
||||
|
||||
os << "ply\n";
|
||||
if (isBinary) os << ((isBigEndian) ? "format binary_big_endian 1.0" : "format binary_little_endian 1.0") << "\n";
|
||||
else os << "format ascii 1.0\n";
|
||||
|
||||
for (const auto & comment : comments) os << "comment " << comment << "\n";
|
||||
|
||||
for (auto & e : elements)
|
||||
{
|
||||
os << "element " << e.name << " " << e.size << "\n";
|
||||
for (const auto & p : e.properties)
|
||||
{
|
||||
if (p.isList)
|
||||
{
|
||||
os << "property list " << PropertyTable[p.listType].str << " "
|
||||
<< PropertyTable[p.propertyType].str << " " << p.name << "\n";
|
||||
}
|
||||
else
|
||||
{
|
||||
os << "property " << PropertyTable[p.propertyType].str << " " << p.name << "\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
os << "end_header\n";
|
||||
}
|
||||
|
||||
// Returns the size (in bytes)
|
||||
std::shared_ptr<PlyData> PlyFile::PlyFileImpl::request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys)
|
||||
{
|
||||
// All requested properties in the userDataTable share the same cursor (thrown into the same flat array)
|
||||
ParsingHelper helper;
|
||||
helper.data = std::make_shared<PlyData>();
|
||||
helper.data->count = 0;
|
||||
helper.data->t = Type::INVALID;
|
||||
helper.cursor = std::make_shared<PlyCursor>();
|
||||
helper.cursor->byteOffset = 0;
|
||||
helper.cursor->totalSizeBytes = 0;
|
||||
|
||||
if (elements.size() == 0) throw std::runtime_error("parsed header had no elements defined. malformed file?");
|
||||
if (!propertyKeys.size()) throw std::invalid_argument("`propertyKeys` argument is empty");
|
||||
if (elementKey.size() == 0) throw std::invalid_argument("`elementKey` argument is empty");
|
||||
|
||||
const int elementIndex = find_element(elementKey, elements);
|
||||
|
||||
// Sanity check if the user requested element is in the pre-parsed header
|
||||
if (elementIndex >= 0)
|
||||
{
|
||||
// We found the element
|
||||
const PlyElement & element = elements[elementIndex];
|
||||
|
||||
helper.data->count = element.size;
|
||||
|
||||
// Find each of the keys
|
||||
for (auto key : propertyKeys)
|
||||
{
|
||||
const int propertyIndex = find_property(key, element.properties);
|
||||
|
||||
if (propertyIndex >= 0)
|
||||
{
|
||||
// We found the property
|
||||
const PlyProperty & property = element.properties[propertyIndex];
|
||||
|
||||
helper.data->t = property.propertyType; // hmm....
|
||||
|
||||
auto result = userData.insert(std::pair<std::string, ParsingHelper>(make_key(element.name, property.name), helper));
|
||||
if (result.second == false) throw std::invalid_argument("element-property key has already been requested: " + make_key(element.name, property.name));
|
||||
}
|
||||
else throw std::invalid_argument("one of the property keys was not found in the header: " + key);
|
||||
}
|
||||
}
|
||||
else throw std::invalid_argument("the element key was not found in the header: " + elementKey);
|
||||
|
||||
return helper.data;
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)
|
||||
{
|
||||
ParsingHelper helper;
|
||||
helper.data = std::make_shared<PlyData>();
|
||||
helper.data->count = count;
|
||||
helper.data->t = type;
|
||||
helper.data->buffer = Buffer(data);
|
||||
helper.cursor = std::make_shared<PlyCursor>();
|
||||
helper.cursor->byteOffset = 0;
|
||||
helper.cursor->totalSizeBytes = 0;
|
||||
|
||||
auto create_property_on_element = [&](PlyElement & e)
|
||||
{
|
||||
for (auto key : propertyKeys)
|
||||
{
|
||||
PlyProperty newProp = (listType == Type::INVALID) ? PlyProperty(type, key) : PlyProperty(listType, type, key, listCount);
|
||||
/* auto result = */userData.insert(std::pair<std::string, ParsingHelper>(make_key(elementKey, key), helper));
|
||||
e.properties.push_back(newProp);
|
||||
}
|
||||
};
|
||||
|
||||
int idx = find_element(elementKey, elements);
|
||||
if (idx >= 0)
|
||||
{
|
||||
PlyElement & e = elements[idx];
|
||||
create_property_on_element(e);
|
||||
}
|
||||
else
|
||||
{
|
||||
PlyElement newElement = (listType == Type::INVALID) ? PlyElement(elementKey, count / propertyKeys.size()) : PlyElement(elementKey, count / listCount);
|
||||
create_property_on_element(newElement);
|
||||
elements.push_back(newElement);
|
||||
}
|
||||
}
|
||||
|
||||
void PlyFile::PlyFileImpl::parse_data(std::istream & is, bool firstPass)
|
||||
{
|
||||
std::function<size_t(const Type t, void * dest, size_t & destOffset, std::istream & is)> read;
|
||||
std::function<size_t(const PlyProperty & p, std::istream & is)> skip;
|
||||
|
||||
const auto start = is.tellg();
|
||||
|
||||
if (isBinary)
|
||||
{
|
||||
read = [&](const Type t, void * dest, size_t & destOffset, std::istream & _is) { return read_property_binary(t, dest, destOffset, _is); };
|
||||
skip = [&](const PlyProperty & p, std::istream & _is) { return skip_property_binary(p, _is); };
|
||||
}
|
||||
else
|
||||
{
|
||||
read = [&](const Type t, void * dest, size_t & destOffset, std::istream & _is) { return read_property_ascii(t, dest, destOffset, _is); };
|
||||
skip = [&](const PlyProperty & p, std::istream & _is) { return skip_property_ascii(p, _is); };
|
||||
}
|
||||
|
||||
for (auto & element : elements)
|
||||
{
|
||||
for (size_t count = 0; count < element.size; ++count)
|
||||
{
|
||||
for (auto & property : element.properties)
|
||||
{
|
||||
auto cursorIt = userData.find(make_key(element.name, property.name));
|
||||
if (cursorIt != userData.end())
|
||||
{
|
||||
auto & helper = cursorIt->second;
|
||||
if (!firstPass)
|
||||
{
|
||||
if (property.isList)
|
||||
{
|
||||
size_t listSize = 0;
|
||||
size_t dummyCount = 0;
|
||||
read(property.listType, &listSize, dummyCount, is);
|
||||
for (size_t i = 0; i < listSize; ++i)
|
||||
{
|
||||
read(property.propertyType, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset, is);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
read(property.propertyType, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset, is);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
helper.cursor->totalSizeBytes += skip(property, is);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
skip(property, is);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Reset istream reader to the beginning
|
||||
if (firstPass) is.seekg(start, is.beg);
|
||||
}
|
||||
|
||||
///////////////////////////////////
|
||||
// Pass-Through Public Interface //
|
||||
///////////////////////////////////
|
||||
|
||||
PlyFile::PlyFile() { impl.reset(new PlyFileImpl()); };
|
||||
PlyFile::~PlyFile() { };
|
||||
bool PlyFile::parse_header(std::istream & is) { return impl->parse_header(is); }
|
||||
void PlyFile::read(std::istream & is) { return impl->read(is); }
|
||||
void PlyFile::write(std::ostream & os, bool isBinary) { return impl->write(os, isBinary); }
|
||||
std::vector<PlyElement> PlyFile::get_elements() const { return impl->elements; }
|
||||
std::vector<std::string> & PlyFile::get_comments() { return impl->comments; }
|
||||
std::vector<std::string> PlyFile::get_info() const { return impl->objInfo; }
|
||||
std::shared_ptr<PlyData> PlyFile::request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys)
|
||||
{
|
||||
return impl->request_properties_from_element(elementKey, propertyKeys);
|
||||
}
|
||||
void PlyFile::add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)
|
||||
{
|
||||
return impl->add_properties_to_element(elementKey, propertyKeys, type, count, data, listType, listCount);
|
||||
}
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
// This software is in the public domain. Where that dedication is not
|
||||
// recognized, you are granted a perpetual, irrevocable license to copy,
|
||||
// distribute, and modify this file as you see fit.
|
||||
// Authored in 2015 by Dimitri Diakopoulos (http://www.dimitridiakopoulos.com)
|
||||
// https://github.com/ddiakopoulos/tinyply
|
||||
// Version 2.0
|
||||
|
||||
#ifndef tinyply_h
|
||||
#define tinyply_h
|
||||
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <stdint.h>
|
||||
#include <sstream>
|
||||
#include <memory>
|
||||
#include <map>
|
||||
|
||||
namespace tinyply
|
||||
{
|
||||
|
||||
enum class Type : uint8_t
|
||||
{
|
||||
INVALID,
|
||||
INT8,
|
||||
UINT8,
|
||||
INT16,
|
||||
UINT16,
|
||||
INT32,
|
||||
UINT32,
|
||||
FLOAT32,
|
||||
FLOAT64
|
||||
};
|
||||
|
||||
struct PropertyInfo
|
||||
{
|
||||
int stride;
|
||||
std::string str;
|
||||
};
|
||||
|
||||
static std::map<Type, PropertyInfo> PropertyTable
|
||||
{
|
||||
{ Type::INT8,{ 1, "char" } },
|
||||
{ Type::UINT8,{ 1, "uchar" } },
|
||||
{ Type::INT16,{ 2, "short" } },
|
||||
{ Type::UINT16,{ 2, "ushort" } },
|
||||
{ Type::INT32,{ 4, "int" } },
|
||||
{ Type::UINT32,{ 4, "uint" } },
|
||||
{ Type::FLOAT32,{ 4, "float" } },
|
||||
{ Type::FLOAT64,{ 8, "double" } },
|
||||
{ Type::INVALID,{ 0, "INVALID" } }
|
||||
};
|
||||
|
||||
class Buffer
|
||||
{
|
||||
uint8_t * alias{ nullptr };
|
||||
struct delete_array { void operator()(uint8_t * p) { delete[] p; } };
|
||||
std::unique_ptr<uint8_t, decltype(Buffer::delete_array())> data;
|
||||
size_t size;
|
||||
public:
|
||||
Buffer() {};
|
||||
Buffer(const size_t size) : data(new uint8_t[size], delete_array()), size(size) { alias = data.get(); } // allocating
|
||||
Buffer(uint8_t * ptr) { alias = ptr; } // non-allocating, fixme: set size?
|
||||
uint8_t * get() { return alias; }
|
||||
size_t size_bytes() const { return size; }
|
||||
};
|
||||
|
||||
struct PlyData
|
||||
{
|
||||
Type t;
|
||||
size_t count;
|
||||
Buffer buffer;
|
||||
};
|
||||
|
||||
struct PlyProperty
|
||||
{
|
||||
PlyProperty(std::istream & is);
|
||||
PlyProperty(Type type, std::string & _name) : name(_name), propertyType(type) {}
|
||||
PlyProperty(Type list_type, Type prop_type, std::string & _name, int list_count) : name(_name), propertyType(prop_type), isList(true), listType(list_type), listCount(list_count) {}
|
||||
std::string name;
|
||||
Type propertyType;
|
||||
bool isList{ false };
|
||||
Type listType{ Type::INVALID };
|
||||
int listCount{ 0 };
|
||||
};
|
||||
|
||||
struct PlyElement
|
||||
{
|
||||
PlyElement(std::istream & istream);
|
||||
PlyElement(const std::string & _name, size_t count) : name(_name), size(count) {}
|
||||
std::string name;
|
||||
size_t size;
|
||||
std::vector<PlyProperty> properties;
|
||||
};
|
||||
|
||||
struct PlyFile
|
||||
{
|
||||
struct PlyFileImpl;
|
||||
std::unique_ptr<PlyFileImpl> impl;
|
||||
|
||||
PlyFile();
|
||||
~PlyFile();
|
||||
|
||||
bool parse_header(std::istream & is);
|
||||
|
||||
void read(std::istream & is);
|
||||
|
||||
void write(std::ostream & os, bool isBinary);
|
||||
|
||||
std::vector<PlyElement> get_elements() const;
|
||||
std::vector<std::string> & get_comments();
|
||||
std::vector<std::string> get_info() const;
|
||||
|
||||
std::shared_ptr<PlyData> request_properties_from_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys);
|
||||
void add_properties_to_element(const std::string & elementKey, const std::initializer_list<std::string> propertyKeys, const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount);
|
||||
};
|
||||
|
||||
} // namesapce tinyply
|
||||
|
||||
#endif // tinyply_h
|
||||
Ładowanie…
Reference in New Issue