ply_io.h

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 * $Id: ply_io.h 5354 2012-03-27 22:13:21Z nizar $
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#ifndef PCL_IO_PLY_IO_H_
#define PCL_IO_PLY_IO_H_

#include <pcl/io/file_io.h>
#include <pcl/io/ply/ply_parser.h>
#include <boost/bind.hpp>
#include <pcl/PolygonMesh.h>
#include <sstream>

namespace pcl
{
  class PCL_EXPORTS PLYReader : public FileReader
  {
    public:
      enum
      {
        PLY_V0 = 0,
        PLY_V1 = 1
      };
      
      PLYReader ()
        : FileReader ()
        , parser_ ()
        , origin_ (Eigen::Vector4f::Zero ())
        , orientation_ (Eigen::Matrix3f::Zero ())
        , cloud_ ()
        , vertex_count_ (0)
        , vertex_properties_counter_ (0)
        , vertex_offset_before_ (0)
        , range_grid_ (0)
        , range_count_ (0)
        , range_grid_vertex_indices_element_index_ (0)
        , rgb_offset_before_ (0)
      {}

      PLYReader (const PLYReader &p)
        : parser_ ()
        , origin_ (Eigen::Vector4f::Zero ())
        , orientation_ (Eigen::Matrix3f::Zero ())
        , cloud_ ()
        , vertex_count_ (0)
        , vertex_properties_counter_ (0)
        , vertex_offset_before_ (0)
        , range_grid_ (0)
        , range_count_ (0)
        , range_grid_vertex_indices_element_index_ (0)
        , rgb_offset_before_ (0)
      {
        *this = p;
      }

      PLYReader&
      operator = (const PLYReader &p)
      {
        origin_ = p.origin_;
        orientation_ = p.orientation_;
        range_grid_ = p.range_grid_;
        return (*this);
      }

      ~PLYReader () { delete range_grid_; }
      int 
      readHeader (const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
                  Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
                  int &ply_version, int &data_type, unsigned int &data_idx, const int offset = 0);

      int 
      read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
            Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int& ply_version, const int offset = 0);

      inline int 
      read (const std::string &file_name, sensor_msgs::PointCloud2 &cloud, const int offset = 0)
      {
        Eigen::Vector4f origin;
        Eigen::Quaternionf orientation;
        int ply_version;
        return read (file_name, cloud, origin, orientation, ply_version, offset);
      }

      template<typename PointT> inline int
      read (const std::string &file_name, pcl::PointCloud<PointT> &cloud, const int offset = 0)
      {
        sensor_msgs::PointCloud2 blob;
        int ply_version;
        int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
                        ply_version, offset);

        // Exit in case of error
        if (res < 0)
          return (res);
        pcl::fromROSMsg (blob, cloud);
        return (0);
      }
      
    private:
      ::pcl::io::ply::ply_parser parser_;

      bool
      parse (const std::string& istream_filename);

      void 
      infoCallback (const std::string& filename, std::size_t line_number, const std::string& message)
      {
        PCL_DEBUG ("[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
      }
      
      void 
      warningCallback (const std::string& filename, std::size_t line_number, const std::string& message)
      {
        PCL_WARN ("[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
      }
      
      void 
      errorCallback (const std::string& filename, std::size_t line_number, const std::string& message)
      {
        PCL_ERROR ("[pcl::PLYReader] %s:%lu: %s\n", filename.c_str (), line_number, message.c_str ());
      }
      
      boost::tuple<boost::function<void ()>, boost::function<void ()> > 
      elementDefinitionCallback (const std::string& element_name, std::size_t count);
      
      bool
      endHeaderCallback ();

      template <typename ScalarType> boost::function<void (ScalarType)> 
      scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name);

      template <typename SizeType, typename ScalarType> 
      boost::tuple<boost::function<void (SizeType)>, boost::function<void (ScalarType)>, boost::function<void ()> > 
      listPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name);
      
      inline void
      vertexFloatPropertyCallback (pcl::io::ply::float32 value);

      inline void
      vertexColorCallback (const std::string& color_name, pcl::io::ply::uint8 color);

      inline void
      vertexIntensityCallback (pcl::io::ply::uint8 intensity);
      
      inline void
      originXCallback (const float& value) { origin_[0] = value; }
      
      inline void
      originYCallback (const float& value) { origin_[1] = value; }

      inline void
      originZCallback (const float& value) { origin_[2] = value; }
    
      inline void
      orientationXaxisXCallback (const float& value) { orientation_ (0,0) = value; }
      
      inline void
      orientationXaxisYCallback (const float& value) { orientation_ (0,1) = value; }
      
      inline void
      orientationXaxisZCallback (const float& value) { orientation_ (0,2) = value; }
      
      inline void
      orientationYaxisXCallback (const float& value) { orientation_ (1,0) = value; }
      
      inline void
      orientationYaxisYCallback (const float& value) { orientation_ (1,1) = value; }

      inline void
      orientationYaxisZCallback (const float& value) { orientation_ (1,2) = value; }
      
      inline void
      orientationZaxisXCallback (const float& value) { orientation_ (2,0) = value; }
    
      inline void
      orientationZaxisYCallback (const float& value) { orientation_ (2,1) = value; }
      
      inline void
      orientationZaxisZCallback (const float& value) { orientation_ (2,2) = value; }
      
      inline void
      cloudHeightCallback (const int &height) { cloud_->height = height; }

      inline void
      cloudWidthCallback (const int &width) { cloud_->width = width; }
        
      void
      appendFloatProperty (const std::string& name, const size_t& count = 1);

      void
      vertexBeginCallback ();

      void
      vertexEndCallback ();

      void
      rangeGridBeginCallback ();

      void
      rangeGridVertexIndicesBeginCallback (pcl::io::ply::uint8 size);

      void
      rangeGridVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index);

      void
      rangeGridVertexIndicesEndCallback ();

      void
      rangeGridEndCallback ();

      void
      objInfoCallback (const std::string& line);

      Eigen::Vector4f origin_;

      Eigen::Matrix3f orientation_;

      //vertex element artifacts
      sensor_msgs::PointCloud2 *cloud_;
      size_t vertex_count_, vertex_properties_counter_;
      int vertex_offset_before_;
      //range element artifacts
      std::vector<std::vector <int> > *range_grid_;
      size_t range_count_, range_grid_vertex_indices_element_index_;
      size_t rgb_offset_before_;
      
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  class PCL_EXPORTS PLYWriter : public FileWriter
  {
    public:
      PLYWriter () : FileWriter () {};

      ~PLYWriter () {};

      inline std::string
      generateHeaderBinary (const sensor_msgs::PointCloud2 &cloud, 
                            const Eigen::Vector4f &origin, 
                            const Eigen::Quaternionf &orientation,
                            int valid_points,
                            bool use_camera = true)
      {
        return (generateHeader (cloud, origin, orientation, true, use_camera, valid_points));
      }
      
      inline std::string
      generateHeaderASCII (const sensor_msgs::PointCloud2 &cloud, 
                           const Eigen::Vector4f &origin, 
                           const Eigen::Quaternionf &orientation,
                           int valid_points,
                           bool use_camera = true)
      {
        return (generateHeader (cloud, origin, orientation, false, use_camera, valid_points));
      }

      int 
      writeASCII (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
                  const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                  const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                  int precision = 8,
                  bool use_camera = true);

      int 
      writeBinary (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud,
                   const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                   const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity ());

      inline int
      write (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
             const bool binary = false)
      {
        if (binary)
          return (this->writeBinary (file_name, cloud, origin, orientation));
        else
          return (this->writeASCII (file_name, cloud, origin, orientation, 8, true));
      }

      inline int
      write (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
             bool binary = false,
             bool use_camera = true)
      {
        if (binary)
          return (this->writeBinary (file_name, cloud, origin, orientation));
        else
          return (this->writeASCII (file_name, cloud, origin, orientation, 8, use_camera));
      }

      inline int
      write (const std::string &file_name, const sensor_msgs::PointCloud2::ConstPtr &cloud, 
             const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
             const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
             bool binary = false,
             bool use_camera = true)
      {
        return (write (file_name, *cloud, origin, orientation, binary, use_camera));
      }

      template<typename PointT> inline int
      write (const std::string &file_name, 
             const pcl::PointCloud<PointT> &cloud, 
             bool binary = false,
             bool use_camera = true)
      {
        Eigen::Vector4f origin = cloud.sensor_origin_;
        Eigen::Quaternionf orientation = cloud.sensor_orientation_;

        sensor_msgs::PointCloud2 blob;
        pcl::toROSMsg (cloud, blob);

        // Save the data
        return (this->write (file_name, blob, origin, orientation, binary, use_camera));
      }
      
    private:
      std::string
      generateHeader (const sensor_msgs::PointCloud2 &cloud, 
                      const Eigen::Vector4f &origin, 
                      const Eigen::Quaternionf &orientation,
                      bool binary, 
                      bool use_camera,
                      int valid_points);
      
      void
      writeContentWithCameraASCII (int nr_points, 
                                   int point_size,
                                   const sensor_msgs::PointCloud2 &cloud, 
                                   const Eigen::Vector4f &origin, 
                                   const Eigen::Quaternionf &orientation,
                                   std::ofstream& fs);

      void
      writeContentWithRangeGridASCII (int nr_points, 
                                      int point_size,
                                      const sensor_msgs::PointCloud2 &cloud, 
                                      std::ostringstream& fs,
                                      int& nb_valid_points);
  };

  namespace io
  {
    inline int
    loadPLYFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
    {
      pcl::PLYReader p;
      return (p.read (file_name, cloud));
    }

    inline int
    loadPLYFile (const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
                 Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
    {
      pcl::PLYReader p;
      int ply_version;
      return (p.read (file_name, cloud, origin, orientation, ply_version));
    }

    template<typename PointT> inline int
    loadPLYFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
    {
      pcl::PLYReader p;
      return (p.read (file_name, cloud));
    }

    inline int 
    savePLYFile (const std::string &file_name, const sensor_msgs::PointCloud2 &cloud, 
                 const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (), 
                 const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
                 bool binary_mode = false, bool use_camera = true)
    {
      PLYWriter w;
      return (w.write (file_name, cloud, origin, orientation, binary_mode, use_camera));
    }

    template<typename PointT> inline int
    savePLYFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud, bool binary_mode = false)
    {
      PLYWriter w;
      return (w.write<PointT> (file_name, cloud, binary_mode));
    }

    template<typename PointT> inline int
    savePLYFileASCII (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PLYWriter w;
      return (w.write<PointT> (file_name, cloud, false));
    }

    template<typename PointT> inline int
    savePLYFileBinary (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
    {
      PLYWriter w;
      return (w.write<PointT> (file_name, cloud, true));
    }

    template<typename PointT> int
    savePLYFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud,
                 const std::vector<int> &indices, bool binary_mode = false)
    {
      // Copy indices to a new point cloud
      pcl::PointCloud<PointT> cloud_out;
      copyPointCloud (cloud, indices, cloud_out);
      // Save the data
      PLYWriter w;
      return (w.write<PointT> (file_name, cloud_out, binary_mode));
    }

    PCL_EXPORTS int
    savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
  }
}

#endif  //#ifndef PCL_IO_PLY_IO_H_