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PCD FIle Writer for Kinect Fusion Data
pcd_writer License
The MIT License
Copyright (c) 2017 Tsukasa SUGIURA
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// pcd_writer provides functions for save Kinect Fusion mesh data to PCD (Point Cloud Data) file.
//
// This source code is licensed under the MIT license. Please see the License in License.txt.
// Copyright (c) 2017 Tsukasa SUGIURA
// t.sugiura0204@gmail.com
#ifndef PCD_WRITER
#define PCD_WRITER
#include <Windows.h>
#include <NuiKinectFusionApi.h>
#include <fstream>
HRESULT WriteAsciiPcdFile( INuiFusionColorMesh* mesh, const std::string& file, const bool flip = true, const bool color = false )
{
HRESULT ret = S_OK;
if( mesh == nullptr ){
return E_INVALIDARG;
}
// Retrieve Vertex Count
const unsigned int verticesCount = mesh->VertexCount();
// Retrieve Vertices
const Vector3* vertices = nullptr;
ret = mesh->GetVertices( &vertices );
if( FAILED( ret ) ){
return ret;
}
// Retrieve Colors
const int* colors = nullptr;
if( color ){
ret = mesh->GetColors( &colors );
if( FAILED( ret ) ){
return ret;
}
}
// Open Write File Stream
std::ofstream ofs;
ofs.open( file, std::ios::out );
if( !ofs.is_open() ){
return E_FAIL;
}
// Write Header COMMENTS
const float version = 0.7f;
ofs << "# .PCD v" << version << " - Point Cloud Data file format\n";
// Write Header VERSION
ofs << "VERSION " << version << "\n";
if( color ){
// Write Header FIELDS
ofs << "FIELDS x y z rgb\n";
// Write Header SIZE
ofs << "SIZE 4 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F I\n";
// Write Header COUNT
ofs << "COUNT 1 1 1 1\n";
}
else{
// Write Header FIELDS
ofs << "FIELDS x y z\n";
// Write Header SIZE
ofs << "SIZE 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F\n";
// Write Header COUNT
ofs << "COUNT 1 1 1\n";
}
// Write Header WIDTH
ofs << "WIDTH " << verticesCount << "\n";
// Write Header HEIGHT
ofs << "HEIGHT 1\n";
// Write Header VIEWPOINT
ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
// Write Header POINTS
ofs << "POINTS " << verticesCount << "\n";
// Write Header DATA
ofs << "DATA ascii\n";
// Write Points
if( flip ){
if( color ){
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
const uint8_t r = ( colors[index] >> 16 ) & 0xff;
const uint8_t g = ( colors[index] >> 8 ) & 0xff;
const uint8_t b = ( colors[index] ) & 0xff;
const uint32_t color = ( static_cast<uint32_t>( r ) << 16 | static_cast<uint32_t>( g ) << 8 | static_cast<uint32_t>( b ) );
ofs << vertex.x << " " << -vertex.y << " " << -vertex.z << " " << color << "\n";
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs << vertex.x << " " << -vertex.y << " " << -vertex.z << "\n";
}
}
}
else{
if( color ){
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
const uint8_t r = ( colors[index] >> 16 ) & 0xff;
const uint8_t g = ( colors[index] >> 8 ) & 0xff;
const uint8_t b = ( colors[index] ) & 0xff;
const uint32_t color = ( static_cast<uint32_t>( r ) << 16 | static_cast<uint32_t>( g ) << 8 | static_cast<uint32_t>( b ) );
ofs << vertex.x << " " << vertex.y << " " << vertex.z << " " << colors << "\n";
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs << vertex.x << " " << vertex.y << " " << vertex.z << "\n";
}
}
}
// Flush Buffer
ofs.flush();
// Close Write File Stream
ofs.close();
return ret;
}
HRESULT WriteBinaryPcdFile( INuiFusionColorMesh* mesh, const std::string& file, const bool flip = true, const bool color = false )
{
HRESULT ret = S_OK;
if( mesh == nullptr ){
return E_INVALIDARG;
}
// Retrieve Vertex Count
const unsigned int verticesCount = mesh->VertexCount();
// Retrieve Vertices
const Vector3* vertices = nullptr;
ret = mesh->GetVertices( &vertices );
if( FAILED( ret ) ){
return ret;
}
// Retrieve Colors
const int* colors = nullptr;
if( color ){
ret = mesh->GetColors( &colors );
if( FAILED( ret ) ){
return ret;
}
}
// Open Write File Stream
std::ofstream ofs;
ofs.open( file, std::ios::out | std::ios::binary );
if( !ofs.is_open() ){
return E_FAIL;
}
// Write Header COMMENTS
const float version = 0.7f;
ofs << "# .PCD v" << version << " - Point Cloud Data file format\n";
// Write Header VERSION
ofs << "VERSION " << version << "\n";
if( color ){
// Write Header FIELDS
ofs << "FIELDS x y z rgb\n";
// Write Header SIZE
ofs << "SIZE 4 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F I\n";
// Write Header COUNT
ofs << "COUNT 1 1 1 1\n";
}
else{
// Write Header FIELDS
ofs << "FIELDS x y z\n";
// Write Header SIZE
ofs << "SIZE 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F\n";
// Write Header COUNT
ofs << "COUNT 1 1 1\n";
}
// Write Header WIDTH
ofs << "WIDTH " << verticesCount << "\n";
// Write Header HEIGHT
ofs << "HEIGHT 1\n";
// Write Header VIEWPOINT
ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
// Write Header POINTS
ofs << "POINTS " << verticesCount << "\n";
// Write Header DATA
ofs << "DATA binary\n";
// Write Points
if( flip ){
if( color ){
for( unsigned int index = 0; index < verticesCount; index++ ){
Vector3 vertex = vertices[index];
vertex.y = -vertex.y;
vertex.z = -vertex.z;
const uint8_t r = ( colors[index] >> 16 ) & 0xff;
const uint8_t g = ( colors[index] >> 8 ) & 0xff;
const uint8_t b = ( colors[index] ) & 0xff;
const uint32_t color = ( static_cast<uint32_t>( r ) << 16 | static_cast<uint32_t>( g ) << 8 | static_cast<uint32_t>( b ) );
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &color ), sizeof( uint32_t ) );
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
Vector3 vertex = vertices[index];
vertex.y = -vertex.y;
vertex.z = -vertex.z;
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
}
}
}
else{
if( color ){
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
const uint8_t r = ( colors[index] >> 16 ) & 0xff;
const uint8_t g = ( colors[index] >> 8 ) & 0xff;
const uint8_t b = ( colors[index] ) & 0xff;
const uint32_t color = ( static_cast<uint32_t>( r ) << 16 | static_cast<uint32_t>( g ) << 8 | static_cast<uint32_t>( b ) );
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &color ), sizeof( uint32_t ) );
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
}
}
}
// Flush Buffer
ofs.flush();
// Close Write File Stream
ofs.close();
return ret;
}
HRESULT WriteAsciiPcdFile( INuiFusionMesh* mesh, const std::string& file, const bool flip = true )
{
HRESULT ret = S_OK;
if( mesh == nullptr ){
return E_INVALIDARG;
}
// Retrieve Vertex Count
const unsigned int verticesCount = mesh->VertexCount();
// Retrieve Vertices
const Vector3* vertices = nullptr;
ret = mesh->GetVertices( &vertices );
if( FAILED( ret ) ){
return ret;
}
// Open Write File Stream
std::ofstream ofs;
ofs.open( file, std::ios::out );
if( !ofs.is_open() ){
return E_FAIL;
}
// Write Header COMMENTS
const float version = 0.7f;
ofs << "# .PCD v" << version << " - Point Cloud Data file format\n";
// Write Header VERSION
ofs << "VERSION " << version << "\n";
// Write Header FIELDS
ofs << "FIELDS x y z\n";
// Write Header SIZE
ofs << "SIZE 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F\n";
// Write Header COUNT
ofs << "COUNT 1 1 1\n";
// Write Header WIDTH
ofs << "WIDTH " << verticesCount << "\n";
// Write Header HEIGHT
ofs << "HEIGHT 1\n";
// Write Header VIEWPOINT
ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
// Write Header POINTS
ofs << "POINTS " << verticesCount << "\n";
// Write Header DATA
ofs << "DATA ascii\n";
// Write Points
if( flip ){
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs << vertex.x << " " << -vertex.y << " " << -vertex.z << "\n";
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs << vertex.x << " " << vertex.y << " " << vertex.z << "\n";
}
}
// Flush Buffer
ofs.flush();
// Close Write File Stream
ofs.close();
return ret;
}
HRESULT WriteBinaryPcdFile( INuiFusionMesh* mesh, const std::string& file, const bool flip = true )
{
HRESULT ret = S_OK;
if( mesh == nullptr ){
return E_INVALIDARG;
}
// Retrieve Vertex Count
const unsigned int verticesCount = mesh->VertexCount();
// Retrieve Vertices
const Vector3* vertices = nullptr;
ret = mesh->GetVertices( &vertices );
if( FAILED( ret ) ){
return ret;
}
// Open Write File Stream
std::ofstream ofs;
ofs.open( file, std::ios::out | std::ios::binary );
if( !ofs.is_open() ){
return E_FAIL;
}
// Write Header COMMENTS
const float version = 0.7f;
ofs << "# .PCD v" << version << " - Point Cloud Data file format\n";
// Write Header VERSION
ofs << "VERSION " << version << "\n";
// Write Header FIELDS
ofs << "FIELDS x y z\n";
// Write Header SIZE
ofs << "SIZE 4 4 4\n";
// Write Header TYPE
ofs << "TYPE F F F\n";
// Write Header COUNT
ofs << "COUNT 1 1 1\n";
// Write Header WIDTH
ofs << "WIDTH " << verticesCount << "\n";
// Write Header HEIGHT
ofs << "HEIGHT 1\n";
// Write Header VIEWPOINT
ofs << "VIEWPOINT 0 0 0 1 0 0 0\n";
// Write Header POINTS
ofs << "POINTS " << verticesCount << "\n";
// Write Header DATA
ofs << "DATA binary\n";
// Write Points
if( flip ){
for( unsigned int index = 0; index < verticesCount; index++ ){
Vector3 vertex = vertices[index];
vertex.y = -vertex.y;
vertex.z = -vertex.z;
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
}
}
else{
for( unsigned int index = 0; index < verticesCount; index++ ){
const Vector3 vertex = vertices[index];
ofs.write( reinterpret_cast<const char*>( &vertex.x ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.y ), sizeof( float ) );
ofs.write( reinterpret_cast<const char*>( &vertex.z ), sizeof( float ) );
}
}
// Flush Buffer
ofs.flush();
// Close Write File Stream
ofs.close();
return ret;
}
#endif PCD_WRITER
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