Merge pull request #1057 from Tonsty/master

Save normal and curvature in savePLYFile
PointCloudLibrary · Dec 23, 2014 · 67f976d · 67f976d
2 parents e1bfafc + 3e6747c
commit 67f976d
Showing 1 changed file with 32 additions and 0 deletions.
diff --git a/io/src/ply_io.cpp b/io/src/ply_io.cpp
@@ -1497,6 +1497,22 @@ pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh
           "\nproperty uchar green"
           "\nproperty uchar blue";
   }
+  // Check if we have normal on vertices
+  int normal_x_index = getFieldIndex(mesh.cloud, "normal_x");
+  int normal_y_index = getFieldIndex(mesh.cloud, "normal_y");
+  int normal_z_index = getFieldIndex(mesh.cloud, "normal_z");
+  if (normal_x_index != -1 && normal_y_index != -1 && normal_z_index != -1)
+  {
+      fs << "\nproperty float nx"
+            "\nproperty float ny"
+            "\nproperty float nz";
+  }
+  // Check if we have curvature on vertices
+  int curvature_index = getFieldIndex(mesh.cloud, "curvature");
+  if ( curvature_index != -1)
+  {
+      fs << "\nproperty float curvature";
+  }
   // Faces
   fs << "\nelement face "<< nr_faces;
   fs << "\nproperty list uchar int vertex_indices";
@@ -1541,6 +1557,22 @@ pcl::io::savePLYFile (const std::string &file_name, const pcl::PolygonMesh &mesh
         memcpy (&color, &mesh.cloud.data[i * point_size + mesh.cloud.fields[rgba_index].offset + c * sizeof (uint32_t)], sizeof (RGB));
         fs << int (color.r) << " " << int (color.g) << " " << int (color.b) << " " << int (color.a);
       }
+      else if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
+                mesh.cloud.fields[d].name == "normal_x" ||
+                mesh.cloud.fields[d].name == "normal_y" ||
+                mesh.cloud.fields[d].name == "normal_z"))
+      {
+        float value;
+        memcpy (&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof(float)], sizeof(float));
+        fs << value;
+      }
+      else if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
+                mesh.cloud.fields[d].name == "curvature"))
+      {
+        float value;
+        memcpy(&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof(float)], sizeof(float));
+        fs << value;
+      }
       fs << " ";
     }
     if (xyz != 3)