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<div class="title">PLY_import_export.h</div>  </div>
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<a href="_p_l_y__import__export_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment">   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |</span>
<a name="l00003"></a>00003 <span class="comment">   |                                                                           |</span>
<a name="l00004"></a>00004 <span class="comment">   |                       http://www.mrpt.org/                                |</span>
<a name="l00005"></a>00005 <span class="comment">   |                                                                           |</span>
<a name="l00006"></a>00006 <span class="comment">   |   Copyright (C) 2005-2011  University of Malaga                           |</span>
<a name="l00007"></a>00007 <span class="comment">   |                                                                           |</span>
<a name="l00008"></a>00008 <span class="comment">   |    This software was written by the Machine Perception and Intelligent    |</span>
<a name="l00009"></a>00009 <span class="comment">   |      Robotics Lab, University of Malaga (Spain).                          |</span>
<a name="l00010"></a>00010 <span class="comment">   |    Contact: Jose-Luis Blanco  &lt;jlblanco@ctima.uma.es&gt;                     |</span>
<a name="l00011"></a>00011 <span class="comment">   |                                                                           |</span>
<a name="l00012"></a>00012 <span class="comment">   |  This file is part of the MRPT project.                                   |</span>
<a name="l00013"></a>00013 <span class="comment">   |                                                                           |</span>
<a name="l00014"></a>00014 <span class="comment">   |     MRPT is free software: you can redistribute it and/or modify          |</span>
<a name="l00015"></a>00015 <span class="comment">   |     it under the terms of the GNU General Public License as published by  |</span>
<a name="l00016"></a>00016 <span class="comment">   |     the Free Software Foundation, either version 3 of the License, or     |</span>
<a name="l00017"></a>00017 <span class="comment">   |     (at your option) any later version.                                   |</span>
<a name="l00018"></a>00018 <span class="comment">   |                                                                           |</span>
<a name="l00019"></a>00019 <span class="comment">   |   MRPT is distributed in the hope that it will be useful,                 |</span>
<a name="l00020"></a>00020 <span class="comment">   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |</span>
<a name="l00021"></a>00021 <span class="comment">   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |</span>
<a name="l00022"></a>00022 <span class="comment">   |     GNU General Public License for more details.                          |</span>
<a name="l00023"></a>00023 <span class="comment">   |                                                                           |</span>
<a name="l00024"></a>00024 <span class="comment">   |     You should have received a copy of the GNU General Public License     |</span>
<a name="l00025"></a>00025 <span class="comment">   |     along with MRPT.  If not, see &lt;http://www.gnu.org/licenses/&gt;.         |</span>
<a name="l00026"></a>00026 <span class="comment">   |                                                                           |</span>
<a name="l00027"></a>00027 <span class="comment">   +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef  PLY_IMPORT_EXPORT_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define  PLY_IMPORT_EXPORT_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>&gt;</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &lt;<a class="code" href="_c_string_list_8h.html">mrpt/utils/CStringList.h</a>&gt;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;<a class="code" href="_t_color_8h.html">mrpt/utils/TColor.h</a>&gt;</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include &lt;<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>&gt;</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038         <span class="keyword">namespace </span>utils
<a name="l00039"></a>00039         {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment">                /** A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format.</span>
<a name="l00041"></a>00041 <span class="comment">                  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY</span>
<a name="l00042"></a>00042 <span class="comment">                  * \sa PLY_Exporter</span>
<a name="l00043"></a>00043 <span class="comment">                 * \ingroup mrpt_base_grp</span>
<a name="l00044"></a>00044 <span class="comment">                  */</span>
<a name="l00045"></a>00045                 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> PLY_Importer
<a name="l00046"></a>00046                 {
<a name="l00047"></a>00047                 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment">                        /** Loads from a PLY file.</span>
<a name="l00049"></a>00049 <span class="comment">                          * \param[in]  filename The filename to open. It can be either in binary or text format.</span>
<a name="l00050"></a>00050 <span class="comment">                          * \param[out] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.</span>
<a name="l00051"></a>00051 <span class="comment">                          * \param[out] file_obj_info If provided (!=NULL) the list of &quot;object info&quot; strings stored in the file will be returned.</span>
<a name="l00052"></a>00052 <span class="comment">                          * \return false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()</span>
<a name="l00053"></a>00053 <span class="comment">                          */</span>
<a name="l00054"></a>00054                         <span class="keywordtype">bool</span> loadFromPlyFile(
<a name="l00055"></a>00055                                 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>         &amp;filename,
<a name="l00056"></a>00056                                 CStringList  *file_comments = NULL,
<a name="l00057"></a>00057                                 CStringList  *file_obj_info = NULL );
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment">                        /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1utils_1_1_p_l_y___importer.html#a1d9782483d4284c04cde1051b8543435">00060</a>                         std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1utils_1_1_p_l_y___importer.html#a1d9782483d4284c04cde1051b8543435" title="Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file...">getLoadPLYErrorString</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_ply_import_last_error; }
<a name="l00061"></a>00061 
<a name="l00062"></a>00062                 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment">                        /** @name PLY Import virtual methods to implement in base classes</span>
<a name="l00064"></a>00064 <span class="comment">                            @{ */</span>
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment">                        /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */</span>
<a name="l00067"></a>00067                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex_count(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N) = 0;
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment">                        /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face */</span>
<a name="l00070"></a>00070                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_face_count(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N) = 0;
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment">                        /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.</span>
<a name="l00073"></a>00073 <span class="comment">                          *  \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00074"></a>00074 <span class="comment">                          */</span>
<a name="l00075"></a>00075                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex(<span class="keyword">const</span> <span class="keywordtype">size_t</span> idx, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &amp;pt, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> *pt_color = NULL) = 0;
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment">                        /** @} */</span>
<a name="l00078"></a>00078 
<a name="l00079"></a>00079                 <span class="keyword">private</span>:
<a name="l00080"></a><a class="code" href="classmrpt_1_1utils_1_1_p_l_y___importer.html#ab0632c83ce2e50c65c774c08b5c14624">00080</a>                         std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a>  <a class="code" href="classmrpt_1_1utils_1_1_p_l_y___importer.html#ab0632c83ce2e50c65c774c08b5c14624">m_ply_import_last_error</a>;
<a name="l00081"></a>00081 
<a name="l00082"></a>00082                 }; <span class="comment">// End of class def.</span>
<a name="l00083"></a>00083 
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment">                /** A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format.</span>
<a name="l00086"></a>00086 <span class="comment">                  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY</span>
<a name="l00087"></a>00087 <span class="comment">                  * \sa PLY_Importer</span>
<a name="l00088"></a>00088 <span class="comment">                 * \ingroup mrpt_base_grp</span>
<a name="l00089"></a>00089 <span class="comment">                  */</span>
<a name="l00090"></a>00090                 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html" title="A virtual base class that implements the capability of exporting 3D point clouds and faces to a file ...">PLY_Exporter</a>
<a name="l00091"></a>00091                 {
<a name="l00092"></a>00092                 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment">                        /** Saves to a PLY file.</span>
<a name="l00094"></a>00094 <span class="comment">                          * \param[in]  filename The filename to be saved.</span>
<a name="l00095"></a>00095 <span class="comment">                          * \param[in] file_comments If provided (!=NULL) the list of comment strings stored in the file will be returned.</span>
<a name="l00096"></a>00096 <span class="comment">                          * \param[in] file_obj_info If provided (!=NULL) the list of &quot;object info&quot; strings stored in the file will be returned.</span>
<a name="l00097"></a>00097 <span class="comment">                          * \return false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()</span>
<a name="l00098"></a>00098 <span class="comment">                          */</span>
<a name="l00099"></a>00099                         <span class="keywordtype">bool</span> saveToPlyFile(
<a name="l00100"></a>00100                                 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>  &amp; filename,
<a name="l00101"></a>00101                                 <span class="keywordtype">bool</span> save_in_binary = <span class="keyword">false</span>,
<a name="l00102"></a>00102                                 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">CStringList</a>  &amp; file_comments = <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">CStringList</a>(),
<a name="l00103"></a>00103                                 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">CStringList</a>  &amp; file_obj_info = <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">CStringList</a>() ) <span class="keyword">const</span>;
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment">                        /** Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. */</span>
<a name="l00106"></a><a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html#a9ee5f77b023b7ef39f935f14ce624650">00106</a>                         std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html#a9ee5f77b023b7ef39f935f14ce624650" title="Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file...">getSavePLYErrorString</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_ply_export_last_error; }
<a name="l00107"></a>00107 
<a name="l00108"></a>00108                 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment">                        /** @name PLY Export virtual methods to implement in base classes</span>
<a name="l00110"></a>00110 <span class="comment">                            @{ */</span>
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment">                        /** In a base class, return the number of vertices */</span>
<a name="l00113"></a>00113                         <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> PLY_export_get_vertex_count() <span class="keyword">const</span> = 0;
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment">                        /** In a base class, return the number of faces */</span>
<a name="l00116"></a>00116                         <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> PLY_export_get_face_count() <span class="keyword">const</span> = 0;
<a name="l00117"></a>00117 <span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment">                        /** In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.</span>
<a name="l00119"></a>00119 <span class="comment">                          *  \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00120"></a>00120 <span class="comment">                          */</span>
<a name="l00121"></a>00121                         <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_export_get_vertex(
<a name="l00122"></a>00122                                 <span class="keyword">const</span> <span class="keywordtype">size_t</span> idx,
<a name="l00123"></a>00123                                 <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &amp;pt,
<a name="l00124"></a>00124                                 <span class="keywordtype">bool</span> &amp;pt_has_color,
<a name="l00125"></a>00125                                 <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &amp;pt_color) <span class="keyword">const</span> = 0;
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment">                        /** @} */</span>
<a name="l00128"></a>00128 
<a name="l00129"></a>00129                 <span class="keyword">private</span>:
<a name="l00130"></a><a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html#af8af1bdaaf999433998ce8ea1e51dcc6">00130</a>                         <span class="keyword">mutable</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a>  <a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html#af8af1bdaaf999433998ce8ea1e51dcc6">m_ply_export_last_error</a>;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132                 }; <span class="comment">// End of class def.</span>
<a name="l00133"></a>00133 
<a name="l00134"></a>00134         } <span class="comment">// End of namespace</span>
<a name="l00135"></a>00135 } <span class="comment">// end of namespace</span>
<a name="l00136"></a>00136 <span class="preprocessor">#endif</span>
</pre></div></div>
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