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Add: load pcl::PolygonMesh from IFS files #356

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merged 6 commits into from
Nov 9, 2013
Merged

Add: load pcl::PolygonMesh from IFS files #356

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a2f0ef6
Add: load pcl::PolygonMesh from IFS files
nizar-sallem Nov 8, 2013
f049401
Fix: documentation
nizar-sallem Nov 8, 2013
be7ef5f
Update: simplify the API and the code
nizar-sallem Nov 8, 2013
48fccce
Update: clean up around range_grid
nizar-sallem Nov 8, 2013
9835529
Add: ability to load a PolygonMesh from PLY files
nizar-sallem Nov 8, 2013
cc4f714
Fix: documentation
nizar-sallem Nov 8, 2013
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70 changes: 51 additions & 19 deletions io/include/pcl/io/ifs_io.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl/io/boost.h>
#include <pcl/PolygonMesh.h>

namespace pcl
{
Expand All @@ -68,7 +69,7 @@ namespace pcl
IFS_V1_1 = 1
};

/** \brief Read a point cloud data header from a IFS file.
/** \brief Read a point cloud data header from an IFS file.
*
* Load only the meta information (number of points, their types, etc),
* and not the points themselves, from a given IFS file. Useful for fast
Expand All @@ -87,10 +88,10 @@ namespace pcl
readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
int &ifs_version, unsigned int &data_idx);

/** \brief Read a point cloud data from a IFS file and store it into a pcl/PCLPointCloud2.
/** \brief Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.
* \param[in] file_name the name of the file containing the actual PointCloud data
* \param[out] cloud the resultant PointCloud message read from disk
* \param[out] ifs_version the IFS version of the file (either IFS_V6 or IFS_V7)
* \param[out] cloud the resultant PCLPointCloud2 blob read from disk
* \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
*
* \return
* * < 0 (-1) on error
Expand All @@ -99,8 +100,20 @@ namespace pcl
int
read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, int &ifs_version);

/** \brief Read a point cloud data from any IFS file, and convert it to the
* given template format.
/** \brief Read a point cloud data from an IFS file and store it into a PolygonMesh.
* \param[in] file_name the name of the file containing the mesh data
* \param[out] mesh the resultant PolygonMesh
* \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
*
* \return
* * < 0 (-1) on error
* * == 0 on success
*/
int
read (const std::string &file_name, pcl::PolygonMesh &mesh, int &ifs_version);

/** \brief Read a point cloud data from an IFS file, and convert it to the
* given template pcl::PointCloud format.
* \param[in] file_name the name of the file containing the actual PointCloud data
* \param[out] cloud the resultant PointCloud message read from disk
*
Expand Down Expand Up @@ -134,10 +147,11 @@ namespace pcl
IFSWriter() {}
~IFSWriter() {}

/** \brief Save point cloud data to a IFS file containing n-D points
/** \brief Save point cloud data to an IFS file containing 3D points.
* \param[in] file_name the output file name
* \param[in] cloud the point cloud data message
* \param[in] cloud_name the point cloud name to be stored insude the IFS file.
* \param[in] cloud the point cloud data
* \param[in] cloud_name the point cloud name to be stored inside the IFS file.
*
* \return
* * 0 on success
* * < 0 on error
Expand All @@ -146,10 +160,11 @@ namespace pcl
write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
const std::string &cloud_name = "cloud");

/** \brief Save point cloud data to a IFS file containing n-D points
/** \brief Save point cloud data to an IFS file containing 3D points.
* \param[in] file_name the output file name
* \param[in] cloud the point cloud
* \param[in] cloud_name the point cloud name to be stored insude the IFS file.
* \param[in] cloud_name the point cloud name to be stored inside the IFS file.
*
* \return
* * 0 on success
* * < 0 on error
Expand All @@ -166,13 +181,11 @@ namespace pcl

namespace io
{
/** \brief Load a IFS v.6 file into a templated PointCloud type.
*
* Any IFS files > v.6 will generate a warning as a
* pcl/PCLPointCloud2 message cannot hold the sensor origin.
*
/** \brief Load an IFS file into a PCLPointCloud2 blob type.
* \param[in] file_name the name of the file to load
* \param[out] cloud the resultant templated point cloud
* \return 0 on success < 0 on error
*
* \ingroup io
*/
inline int
Expand All @@ -183,9 +196,11 @@ namespace pcl
return (p.read (file_name, cloud, ifs_version));
}

/** \brief Load any IFS file into a templated PointCloud type
/** \brief Load any IFS file into a templated PointCloud type.
* \param[in] file_name the name of the file to load
* \param[out] cloud the resultant templated point cloud
* \return 0 on success < 0 on error
*
* \ingroup io
*/
template<typename PointT> inline int
Expand All @@ -195,9 +210,25 @@ namespace pcl
return (p.read<PointT> (file_name, cloud));
}

/** \brief Save point cloud data to a IFS file containing n-D points
/** \brief Load any IFS file into a PolygonMesh type.
* \param[in] file_name the name of the file to load
* \param[out] mesh the resultant mesh
* \return 0 on success < 0 on error
*
* \ingroup io
*/
inline int
loadIFSFile (const std::string &file_name, pcl::PolygonMesh &mesh)
{
pcl::IFSReader p;
int ifs_version;
return (p.read (file_name, mesh, ifs_version));
}

/** \brief Save point cloud data to an IFS file containing 3D points
* \param[in] file_name the output file name
* \param[in] cloud the point cloud data message
* \return 0 on success < 0 on error
*
* \ingroup io
*/
Expand All @@ -208,9 +239,10 @@ namespace pcl
return (w.write (file_name, cloud));
}

/** \brief Save point cloud data to a IFS file containing n-D points
/** \brief Save point cloud data to an IFS file containing 3D points
* \param[in] file_name the output file name
* \param[in] cloud the point cloud
* \return 0 on success < 0 on error
*
* \ingroup io
*/
Expand Down
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