994 lines
34 KiB
C
994 lines
34 KiB
C
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// Copyright (c) 2016 GeometryFactory Sarl (France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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// You can redistribute it and/or modify it under the terms of the GNU
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// General Public License as published by the Free Software Foundation,
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// either version 3 of the License, or (at your option) any later version.
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//
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// Licensees holding a valid commercial license may use this file in
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// accordance with the commercial license agreement provided with the software.
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//
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// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// $URL$
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// $Id$
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// SPDX-License-Identifier: GPL-3.0+
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//
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//
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// Author(s) : Simon Giraudot
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#ifndef CGAL_POINT_SET_3_IO
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#define CGAL_POINT_SET_3_IO
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#include <CGAL/license/Point_set_3.h>
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#include <CGAL/Point_set_3.h>
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#include <CGAL/IO/read_xyz_points.h>
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#include <CGAL/IO/read_off_points.h>
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#include <CGAL/IO/write_xyz_points.h>
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#include <CGAL/IO/write_off_points.h>
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#include <CGAL/config.h>
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#if !defined(CGAL_CFG_NO_CPP0X_RVALUE_REFERENCE) && !defined(CGAL_CFG_NO_CPP0X_VARIADIC_TEMPLATES)
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#ifdef CGAL_LINKED_WITH_LASLIB
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#include <CGAL/IO/read_las_points.h>
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#include <CGAL/IO/write_las_points.h>
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#endif // LAS
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#include <CGAL/IO/read_ply_points.h>
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#include <CGAL/IO/write_ply_points.h>
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#endif // CXX11
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namespace CGAL {
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namespace internal
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{
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template <typename Point, typename Vector>
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class Abstract_property_printer
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{
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public:
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virtual ~Abstract_property_printer() { }
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virtual void print (std::ostream& stream, const typename CGAL::Point_set_3<Point,Vector>::Index& index) = 0;
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};
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template <typename Point, typename Vector, typename Type>
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class Property_printer : public Abstract_property_printer<Point, Vector>
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{
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typedef typename CGAL::Point_set_3<Point, Vector> Point_set;
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typedef typename Point_set::template Property_map<Type> Pmap;
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Pmap m_pmap;
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public:
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Property_printer (const Pmap& pmap) : m_pmap (pmap)
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{
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}
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virtual void print(std::ostream& stream, const typename CGAL::Point_set_3<Point,Vector>::Index& index)
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{
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stream << get(m_pmap, index);
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}
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};
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template <typename Point, typename Vector, typename Type>
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class Simple_property_printer : public Abstract_property_printer<Point, Vector>
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{
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typedef typename CGAL::Point_set_3<Point, Vector> Point_set;
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typedef typename Point_set::template Property_map<Type> Pmap;
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Pmap m_pmap;
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public:
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Simple_property_printer (const Pmap& pmap) : m_pmap (pmap)
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{
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}
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virtual void print(std::ostream& stream, const typename CGAL::Point_set_3<Point,Vector>::Index& index)
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{
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if (get_mode(stream) == IO::ASCII)
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stream << get(m_pmap, index);
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else
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{
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Type t = get (m_pmap, index);
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stream.write (reinterpret_cast<char*>(&t), sizeof(t));
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}
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}
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};
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template <typename Point, typename Vector, typename Type>
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class Char_property_printer : public Abstract_property_printer<Point, Vector>
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{
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typedef typename CGAL::Point_set_3<Point, Vector> Point_set;
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typedef typename Point_set::template Property_map<Type> Pmap;
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Pmap m_pmap;
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public:
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Char_property_printer (const Pmap& pmap) : m_pmap (pmap)
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{
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}
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virtual void print(std::ostream& stream, const typename CGAL::Point_set_3<Point,Vector>::Index& index)
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{
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if (get_mode(stream) == IO::ASCII)
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stream << int(get(m_pmap, index));
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else
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{
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Type t = get (m_pmap, index);
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stream.write (reinterpret_cast<char*>(&t), sizeof(t));
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}
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}
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};
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#if !defined(CGAL_CFG_NO_CPP0X_RVALUE_REFERENCE) && !defined(CGAL_CFG_NO_CPP0X_VARIADIC_TEMPLATES)
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namespace PLY
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{
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template <typename Point,
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typename Vector = typename Kernel_traits<Point>::Kernel::Vector_3>
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class Point_set_3_filler
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{
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public:
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typedef Point_set_3<Point, Vector> Point_set;
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private:
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struct Abstract_ply_property_to_point_set_property
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{
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virtual ~Abstract_ply_property_to_point_set_property() { }
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virtual void assign (PLY_reader& reader, typename Point_set::Index index) = 0;
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};
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template <typename Type>
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class PLY_property_to_point_set_property : public Abstract_ply_property_to_point_set_property
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{
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typedef typename Point_set::template Property_map<Type> Map;
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typedef typename Point_set::template Push_property_map<Map> Pmap;
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Map m_map;
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Pmap m_pmap;
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std::string m_name;
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public:
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PLY_property_to_point_set_property (Point_set& ps, const std::string& name)
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: m_name (name)
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{
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boost::tie (m_map, boost::tuples::ignore) = ps.add_property_map(name, Type());
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m_pmap = ps.push_property_map (m_map);
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}
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virtual void assign (PLY_reader& reader, typename Point_set::Index index)
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{
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Type t;
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reader.assign (t, m_name.c_str());
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put(m_pmap, index, t);
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}
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};
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Point_set& m_point_set;
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bool m_use_floats;
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std::vector<Abstract_ply_property_to_point_set_property*> m_properties;
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public:
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Point_set_3_filler (Point_set& point_set)
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: m_point_set (point_set), m_use_floats (false)
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{ }
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~Point_set_3_filler()
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{
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for (std::size_t i = 0; i < m_properties.size(); ++ i)
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delete m_properties[i];
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}
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void instantiate_properties (PLY_reader& reader)
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{
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const std::vector<PLY_read_number*>& readers
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= reader.readers();
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bool has_normal[3] = { false, false, false };
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for (std::size_t i = 0; i < readers.size(); ++ i)
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{
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const std::string& name = readers[i]->name();
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if (name == "x" ||
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name == "y" ||
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name == "z")
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{
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if (dynamic_cast<PLY_read_typed_number<float>*>(readers[i]))
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m_use_floats = true;
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continue;
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}
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if (name == "nx")
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{
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has_normal[0] = true;
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continue;
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}
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if (name == "ny")
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{
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has_normal[1] = true;
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continue;
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}
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if (name == "nz")
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{
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has_normal[2] = true;
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continue;
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}
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if (dynamic_cast<PLY_read_typed_number<boost::int8_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::int8_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<boost::uint8_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::uint8_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<boost::int16_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::int16_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<boost::uint16_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::uint16_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<boost::int32_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::int32_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<boost::uint32_t>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<boost::uint32_t>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<float>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<float>(m_point_set,
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name));
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}
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else if (dynamic_cast<PLY_read_typed_number<double>*>(readers[i]))
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{
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m_properties.push_back
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(new PLY_property_to_point_set_property<double>(m_point_set,
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name));
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}
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}
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if (has_normal[0] && has_normal[1] && has_normal[2])
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m_point_set.add_normal_map();
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}
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void process_line (PLY_reader& reader)
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{
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m_point_set.insert();
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if (m_use_floats)
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process_line<float>(reader);
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else
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process_line<double>(reader);
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for (std::size_t i = 0; i < m_properties.size(); ++ i)
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m_properties[i]->assign (reader, *(m_point_set.end() - 1));
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}
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template <typename FT>
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void process_line (PLY_reader& reader)
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{
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FT x = (FT)0.,y = (FT)0., z = (FT)0.,
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nx = (FT)0., ny = (FT)0., nz = (FT)0.;
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reader.assign (x, "x");
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reader.assign (y, "y");
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reader.assign (z, "z");
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Point point (x, y, z);
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m_point_set.point(*(m_point_set.end() - 1)) = point;
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if (m_point_set.has_normal_map())
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{
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reader.assign (nx, "nx");
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reader.assign (ny, "ny");
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reader.assign (nz, "nz");
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Vector normal (nx, ny, nz);
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m_point_set.normal(*(m_point_set.end() - 1)) = normal;
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}
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}
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};
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}
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#endif
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}
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/*!
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\ingroup PkgPointSet3IO
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*/
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template <typename Point, typename Vector>
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bool
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read_xyz_point_set(
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std::istream& stream, ///< input stream.
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CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
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{
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point_set.add_normal_map();
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bool out = CGAL::read_xyz_points
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(stream,
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point_set.index_back_inserter(),
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CGAL::parameters::point_map(point_set.point_push_map()).
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normal_map(point_set.normal_push_map()));
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bool has_normals = false;
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for (typename CGAL::Point_set_3<Point, Vector>::const_iterator it = point_set.begin();
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it != point_set.end(); ++ it)
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if (point_set.normal(*it) != CGAL::NULL_VECTOR)
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{
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has_normals = true;
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break;
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}
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if (!has_normals)
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point_set.remove_normal_map();
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return out;
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}
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/*!
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\ingroup PkgPointSet3IO
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*/
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template <typename Point, typename Vector>
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bool
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read_off_point_set(
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std::istream& stream, ///< input stream.
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CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
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{
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point_set.add_normal_map();
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bool out = CGAL::read_off_points
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(stream,
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point_set.index_back_inserter(),
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CGAL::parameters::point_map(point_set.point_push_map()).
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normal_map(point_set.normal_push_map()));
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bool has_normals = false;
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for (typename CGAL::Point_set_3<Point, Vector>::const_iterator it = point_set.begin();
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it != point_set.end(); ++ it)
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if (point_set.normal(*it) != CGAL::NULL_VECTOR)
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{
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has_normals = true;
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break;
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}
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if (!has_normals)
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point_set.remove_normal_map();
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return out;
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}
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#if (!defined(CGAL_CFG_NO_CPP0X_RVALUE_REFERENCE) && !defined(CGAL_CFG_NO_CPP0X_VARIADIC_TEMPLATES)) || defined(DOXYGEN_RUNNING)
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
read_ply_point_set(
|
||
|
|
std::istream& stream, ///< input stream.
|
||
|
|
#ifdef DOXYGEN_RUNNING
|
||
|
|
CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
#else
|
||
|
|
CGAL::Point_set_3<Point, Vector>& point_set, ///< point set
|
||
|
|
std::string* comments = NULL) ///< recover PLY comments
|
||
|
|
#endif
|
||
|
|
{
|
||
|
|
if(!stream)
|
||
|
|
{
|
||
|
|
std::cerr << "Error: cannot open file" << std::endl;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
internal::PLY::PLY_reader reader;
|
||
|
|
internal::PLY::Point_set_3_filler<Point, Vector> filler(point_set);
|
||
|
|
|
||
|
|
if (!(reader.init (stream)))
|
||
|
|
return false;
|
||
|
|
|
||
|
|
if (comments != NULL)
|
||
|
|
*comments = reader.comments();
|
||
|
|
|
||
|
|
filler.instantiate_properties (reader);
|
||
|
|
|
||
|
|
point_set.reserve (reader.m_nb_points);
|
||
|
|
|
||
|
|
std::size_t points_read = 0;
|
||
|
|
|
||
|
|
while (!(stream.eof()) && points_read < reader.m_nb_points)
|
||
|
|
{
|
||
|
|
for (std::size_t i = 0; i < reader.readers().size (); ++ i)
|
||
|
|
reader.readers()[i]->get (stream);
|
||
|
|
|
||
|
|
filler.process_line (reader);
|
||
|
|
|
||
|
|
++ points_read;
|
||
|
|
}
|
||
|
|
// Skip remaining lines
|
||
|
|
|
||
|
|
return (points_read == reader.m_nb_points);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_ply_point_set(
|
||
|
|
std::ostream& stream, ///< output stream.
|
||
|
|
#ifdef DOXYGEN_RUNNING
|
||
|
|
const CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
#else
|
||
|
|
const CGAL::Point_set_3<Point, Vector>& point_set, ///< point set
|
||
|
|
std::string* comments = NULL) ///< write PLY comments
|
||
|
|
#endif
|
||
|
|
{
|
||
|
|
typedef CGAL::Point_set_3<Point, Vector> Point_set;
|
||
|
|
|
||
|
|
stream << "ply" << std::endl
|
||
|
|
<< ((get_mode(stream) == IO::BINARY) ? "format binary_little_endian 1.0" : "format ascii 1.0") << std::endl
|
||
|
|
<< "comment Generated by the CGAL library" << std::endl;
|
||
|
|
|
||
|
|
if (comments != NULL)
|
||
|
|
{
|
||
|
|
std::istringstream iss (*comments);
|
||
|
|
std::string line;
|
||
|
|
while (getline(iss, line))
|
||
|
|
{
|
||
|
|
if (line != "Generated by the CGAL library") // Avoid repeating the line if multiple savings
|
||
|
|
stream << "comment " << line << std::endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
stream << "element vertex " << point_set.number_of_points() << std::endl;
|
||
|
|
|
||
|
|
std::vector<std::string> prop = point_set.base().properties();
|
||
|
|
std::vector<internal::Abstract_property_printer<Point, Vector>*> printers;
|
||
|
|
|
||
|
|
for (std::size_t i = 0; i < prop.size(); ++ i)
|
||
|
|
{
|
||
|
|
if (prop[i] == "index")
|
||
|
|
continue;
|
||
|
|
|
||
|
|
if (prop[i] == "point")
|
||
|
|
{
|
||
|
|
stream << "property double x" << std::endl
|
||
|
|
<< "property double y" << std::endl
|
||
|
|
<< "property double z" << std::endl;
|
||
|
|
printers.push_back (new internal::Property_printer<Point,Vector,Point>(point_set.point_map()));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
if (prop[i] == "normal")
|
||
|
|
{
|
||
|
|
stream << "property double nx" << std::endl
|
||
|
|
<< "property double ny" << std::endl
|
||
|
|
<< "property double nz" << std::endl;
|
||
|
|
printers.push_back (new internal::Property_printer<Point,Vector,Vector>(point_set.normal_map()));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool okay = false;
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<boost::int8_t> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<boost::int8_t>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property char " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Char_property_printer<Point,Vector,boost::int8_t>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<boost::uint8_t> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<boost::uint8_t>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property uchar " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Char_property_printer<Point,Vector,boost::uint8_t>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<boost::int16_t> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<boost::int16_t>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property short " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Simple_property_printer<Point,Vector,boost::int16_t>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<boost::uint16_t> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<boost::uint16_t>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property ushort " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Simple_property_printer<Point,Vector,boost::uint16_t>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<boost::int32_t> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<boost::int32_t>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property int " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Simple_property_printer<Point,Vector,boost::int32_t>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<float> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<float>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property float " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Simple_property_printer<Point,Vector,float>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
typename Point_set::template Property_map<double> pmap;
|
||
|
|
boost::tie (pmap, okay) = point_set.template property_map<double>(prop[i]);
|
||
|
|
if (okay)
|
||
|
|
{
|
||
|
|
stream << "property double " << prop[i] << std::endl;
|
||
|
|
printers.push_back (new internal::Simple_property_printer<Point,Vector,double>(pmap));
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
stream << "end_header" << std::endl;
|
||
|
|
|
||
|
|
for (typename Point_set::const_iterator it = point_set.begin(); it != point_set.end(); ++ it)
|
||
|
|
{
|
||
|
|
for (std::size_t i = 0; i < printers.size(); ++ i)
|
||
|
|
{
|
||
|
|
printers[i]->print(stream, *it);
|
||
|
|
if (get_mode (stream) == IO::ASCII)
|
||
|
|
stream << " ";
|
||
|
|
}
|
||
|
|
if (get_mode (stream) == IO::ASCII)
|
||
|
|
stream << std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
for (std::size_t i = 0; i < printers.size(); ++ i)
|
||
|
|
delete printers[i];
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if defined(CGAL_LINKED_WITH_LASLIB) || defined(DOXYGEN_RUNNING)
|
||
|
|
|
||
|
|
namespace internal
|
||
|
|
{
|
||
|
|
template <typename PointSet, typename PropertyMap>
|
||
|
|
void check_if_property_is_used (PointSet& point_set,
|
||
|
|
PropertyMap& map)
|
||
|
|
{
|
||
|
|
for (typename PointSet::iterator it = point_set.begin(); it != point_set.end(); ++ it)
|
||
|
|
if (get(map, *it) != typename PropertyMap::value_type())
|
||
|
|
return;
|
||
|
|
|
||
|
|
point_set.remove_property_map (map);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
read_las_point_set(
|
||
|
|
std::istream& stream, ///< input stream.
|
||
|
|
CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
{
|
||
|
|
if(!stream)
|
||
|
|
{
|
||
|
|
std::cerr << "Error: cannot open file" << std::endl;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
typedef CGAL::Point_set_3<Point, Vector> Point_set;
|
||
|
|
typedef typename Point_set::template Property_map<float> Float_map;
|
||
|
|
typedef typename Point_set::template Property_map<double> Double_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned short> Ushort_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned char> Uchar_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned int> Uint_map;
|
||
|
|
|
||
|
|
Ushort_map intensity = point_set.template add_property_map<unsigned short>("intensity", 0).first;
|
||
|
|
Uchar_map return_number = point_set.template add_property_map<unsigned char>("return_number", 0).first;
|
||
|
|
Uchar_map number_of_returns = point_set.template add_property_map<unsigned char>("number_of_returns", 0).first;
|
||
|
|
Uchar_map scan_direction_flag = point_set.template add_property_map<unsigned char>("scan_direction_flag", 0).first;
|
||
|
|
Uchar_map edge_of_flight_line = point_set.template add_property_map<unsigned char>("edge_of_flight_line", 0).first;
|
||
|
|
Uchar_map classification = point_set.template add_property_map<unsigned char>("classification", 0).first;
|
||
|
|
Uchar_map synthetic_flag = point_set.template add_property_map<unsigned char>("synthetic_flag", 0).first;
|
||
|
|
Uchar_map keypoint_flag = point_set.template add_property_map<unsigned char>("keypoint_flag", 0).first;
|
||
|
|
Uchar_map withheld_flag = point_set.template add_property_map<unsigned char>("withheld_flag", 0).first;
|
||
|
|
Float_map scan_angle = point_set.template add_property_map<float>("scan_angle", 0.).first;
|
||
|
|
Uchar_map user_data = point_set.template add_property_map<unsigned char>("user_data", 0).first;
|
||
|
|
Ushort_map point_source_ID = point_set.template add_property_map<unsigned short>("point_source_ID", 0).first;
|
||
|
|
Uint_map deleted_flag = point_set.template add_property_map<unsigned int>("deleted_flag", 0).first;
|
||
|
|
Double_map gps_time = point_set.template add_property_map<double>("gps_time", 0).first;
|
||
|
|
Ushort_map R = point_set.template add_property_map<unsigned short>("R", 0).first;
|
||
|
|
Ushort_map G = point_set.template add_property_map<unsigned short>("G", 0).first;
|
||
|
|
Ushort_map B = point_set.template add_property_map<unsigned short>("B", 0).first;
|
||
|
|
Ushort_map I = point_set.template add_property_map<unsigned short>("I", 0).first;
|
||
|
|
|
||
|
|
bool okay
|
||
|
|
= read_las_points_with_properties
|
||
|
|
(stream, point_set.index_back_inserter(),
|
||
|
|
make_las_point_reader (point_set.point_push_map()),
|
||
|
|
std::make_pair (point_set.push_property_map (intensity), LAS_property::Intensity()),
|
||
|
|
std::make_pair (point_set.push_property_map (return_number), LAS_property::Return_number()),
|
||
|
|
std::make_pair (point_set.push_property_map (number_of_returns), LAS_property::Number_of_returns()),
|
||
|
|
std::make_pair (point_set.push_property_map (scan_direction_flag), LAS_property::Scan_direction_flag()),
|
||
|
|
std::make_pair (point_set.push_property_map (edge_of_flight_line), LAS_property::Edge_of_flight_line()),
|
||
|
|
std::make_pair (point_set.push_property_map (classification), LAS_property::Classification()),
|
||
|
|
std::make_pair (point_set.push_property_map (synthetic_flag), LAS_property::Synthetic_flag()),
|
||
|
|
std::make_pair (point_set.push_property_map (keypoint_flag), LAS_property::Keypoint_flag()),
|
||
|
|
std::make_pair (point_set.push_property_map (withheld_flag), LAS_property::Withheld_flag()),
|
||
|
|
std::make_pair (point_set.push_property_map (scan_angle), LAS_property::Scan_angle()),
|
||
|
|
std::make_pair (point_set.push_property_map (user_data), LAS_property::User_data()),
|
||
|
|
std::make_pair (point_set.push_property_map (point_source_ID), LAS_property::Point_source_ID()),
|
||
|
|
std::make_pair (point_set.push_property_map (deleted_flag), LAS_property::Deleted_flag()),
|
||
|
|
std::make_pair (point_set.push_property_map (gps_time), LAS_property::GPS_time()),
|
||
|
|
std::make_pair (point_set.push_property_map (R), LAS_property::R()),
|
||
|
|
std::make_pair (point_set.push_property_map (G), LAS_property::G()),
|
||
|
|
std::make_pair (point_set.push_property_map (B), LAS_property::B()),
|
||
|
|
std::make_pair (point_set.push_property_map (I), LAS_property::I()));
|
||
|
|
|
||
|
|
internal::check_if_property_is_used (point_set, intensity);
|
||
|
|
internal::check_if_property_is_used (point_set, return_number);
|
||
|
|
internal::check_if_property_is_used (point_set, number_of_returns);
|
||
|
|
internal::check_if_property_is_used (point_set, scan_direction_flag);
|
||
|
|
internal::check_if_property_is_used (point_set, edge_of_flight_line);
|
||
|
|
internal::check_if_property_is_used (point_set, classification);
|
||
|
|
internal::check_if_property_is_used (point_set, synthetic_flag);
|
||
|
|
internal::check_if_property_is_used (point_set, keypoint_flag);
|
||
|
|
internal::check_if_property_is_used (point_set, withheld_flag);
|
||
|
|
internal::check_if_property_is_used (point_set, scan_angle);
|
||
|
|
internal::check_if_property_is_used (point_set, user_data);
|
||
|
|
internal::check_if_property_is_used (point_set, point_source_ID);
|
||
|
|
internal::check_if_property_is_used (point_set, deleted_flag);
|
||
|
|
internal::check_if_property_is_used (point_set, gps_time);
|
||
|
|
internal::check_if_property_is_used (point_set, R);
|
||
|
|
internal::check_if_property_is_used (point_set, G);
|
||
|
|
internal::check_if_property_is_used (point_set, B);
|
||
|
|
internal::check_if_property_is_used (point_set, I);
|
||
|
|
|
||
|
|
return okay;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_las_point_set(
|
||
|
|
std::ostream& stream, ///< output stream.
|
||
|
|
CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
{
|
||
|
|
if(!stream)
|
||
|
|
{
|
||
|
|
std::cerr << "Error: cannot open file" << std::endl;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
typedef CGAL::Point_set_3<Point, Vector> Point_set;
|
||
|
|
typedef typename Point_set::template Property_map<float> Float_map;
|
||
|
|
typedef typename Point_set::template Property_map<double> Double_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned short> Ushort_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned char> Uchar_map;
|
||
|
|
typedef typename Point_set::template Property_map<unsigned int> Uint_map;
|
||
|
|
|
||
|
|
Ushort_map intensity;
|
||
|
|
bool remove_intensity;
|
||
|
|
boost::tie(intensity, remove_intensity)
|
||
|
|
= point_set.template add_property_map<unsigned short>("intensity", 0);
|
||
|
|
|
||
|
|
Uchar_map return_number;
|
||
|
|
bool remove_return_number;
|
||
|
|
boost::tie (return_number, remove_return_number)
|
||
|
|
= point_set.template add_property_map<unsigned char>("return_number", 0);
|
||
|
|
|
||
|
|
Uchar_map number_of_returns;
|
||
|
|
bool remove_number_of_returns;
|
||
|
|
boost::tie (number_of_returns, remove_number_of_returns)
|
||
|
|
= point_set.template add_property_map<unsigned char>("number_of_returns", 0);
|
||
|
|
|
||
|
|
Uchar_map scan_direction_flag;
|
||
|
|
bool remove_scan_direction_flag;
|
||
|
|
boost::tie (scan_direction_flag, remove_scan_direction_flag)
|
||
|
|
= point_set.template add_property_map<unsigned char>("scan_direction_flag", 0);
|
||
|
|
|
||
|
|
Uchar_map edge_of_flight_line;
|
||
|
|
bool remove_edge_of_flight_line;
|
||
|
|
boost::tie (edge_of_flight_line, remove_edge_of_flight_line)
|
||
|
|
= point_set.template add_property_map<unsigned char>("edge_of_flight_line", 0);
|
||
|
|
|
||
|
|
Uchar_map classification;
|
||
|
|
bool remove_classification;
|
||
|
|
boost::tie (classification, remove_classification)
|
||
|
|
= point_set.template add_property_map<unsigned char>("classification", 0);
|
||
|
|
|
||
|
|
Uchar_map synthetic_flag;
|
||
|
|
bool remove_synthetic_flag;
|
||
|
|
boost::tie (synthetic_flag, remove_synthetic_flag)
|
||
|
|
= point_set.template add_property_map<unsigned char>("synthetic_flag", 0);
|
||
|
|
|
||
|
|
Uchar_map keypoint_flag;
|
||
|
|
bool remove_keypoint_flag;
|
||
|
|
boost::tie (keypoint_flag, remove_keypoint_flag)
|
||
|
|
= point_set.template add_property_map<unsigned char>("keypoint_flag", 0);
|
||
|
|
|
||
|
|
Uchar_map withheld_flag;
|
||
|
|
bool remove_withheld_flag;
|
||
|
|
boost::tie (withheld_flag, remove_withheld_flag)
|
||
|
|
= point_set.template add_property_map<unsigned char>("withheld_flag", 0);
|
||
|
|
|
||
|
|
Float_map scan_angle;
|
||
|
|
bool remove_scan_angle;
|
||
|
|
boost::tie (scan_angle, remove_scan_angle)
|
||
|
|
= point_set.template add_property_map<float>("scan_angle", 0.);
|
||
|
|
|
||
|
|
Uchar_map user_data;
|
||
|
|
bool remove_user_data;
|
||
|
|
boost::tie (user_data, remove_user_data)
|
||
|
|
= point_set.template add_property_map<unsigned char>("user_data", 0);
|
||
|
|
|
||
|
|
Ushort_map point_source_ID;
|
||
|
|
bool remove_point_source_ID;
|
||
|
|
boost::tie (point_source_ID, remove_point_source_ID)
|
||
|
|
= point_set.template add_property_map<unsigned short>("point_source_ID", 0);
|
||
|
|
|
||
|
|
Uint_map deleted_flag;
|
||
|
|
bool remove_deleted_flag;
|
||
|
|
boost::tie (deleted_flag, remove_deleted_flag)
|
||
|
|
= point_set.template add_property_map<unsigned int>("deleted_flag", 0);
|
||
|
|
|
||
|
|
Double_map gps_time;
|
||
|
|
bool remove_gps_time;
|
||
|
|
boost::tie (gps_time, remove_gps_time)
|
||
|
|
= point_set.template add_property_map<double>("gps_time", 0);
|
||
|
|
|
||
|
|
Ushort_map R;
|
||
|
|
bool remove_R;
|
||
|
|
boost::tie (R, remove_R) = point_set.template add_property_map<unsigned short>("R", 0);
|
||
|
|
Ushort_map G;
|
||
|
|
bool remove_G;
|
||
|
|
boost::tie (G, remove_G) = point_set.template add_property_map<unsigned short>("G", 0);
|
||
|
|
Ushort_map B;
|
||
|
|
bool remove_B;
|
||
|
|
boost::tie (B, remove_B) = point_set.template add_property_map<unsigned short>("B", 0);
|
||
|
|
Ushort_map I;
|
||
|
|
bool remove_I;
|
||
|
|
boost::tie (I, remove_I) = point_set.template add_property_map<unsigned short>("I", 0);
|
||
|
|
|
||
|
|
if (remove_R)
|
||
|
|
{
|
||
|
|
Uchar_map charR, charG, charB;
|
||
|
|
bool foundR, foundG, foundB;
|
||
|
|
boost::tie (charR, foundR) = point_set.template property_map<unsigned char>("r");
|
||
|
|
if (!foundR)
|
||
|
|
boost::tie (charR, foundR) = point_set.template property_map<unsigned char>("red");
|
||
|
|
boost::tie (charG, foundG) = point_set.template property_map<unsigned char>("g");
|
||
|
|
if (!foundG)
|
||
|
|
boost::tie (charG, foundG) = point_set.template property_map<unsigned char>("green");
|
||
|
|
boost::tie (charB, foundB) = point_set.template property_map<unsigned char>("b");
|
||
|
|
if (!foundB)
|
||
|
|
boost::tie (charB, foundB) = point_set.template property_map<unsigned char>("blue");
|
||
|
|
|
||
|
|
if (foundR && foundG && foundB)
|
||
|
|
{
|
||
|
|
for (typename Point_set::iterator it = point_set.begin(); it != point_set.end(); ++ it)
|
||
|
|
{
|
||
|
|
put (R, *it, (unsigned short)(get(charR, *it)));
|
||
|
|
put (G, *it, (unsigned short)(get(charG, *it)));
|
||
|
|
put (B, *it, (unsigned short)(get(charB, *it)));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bool okay
|
||
|
|
= write_las_points_with_properties
|
||
|
|
(stream, point_set,
|
||
|
|
make_las_point_writer (point_set.point_map()),
|
||
|
|
std::make_pair (intensity, LAS_property::Intensity()),
|
||
|
|
std::make_pair (return_number, LAS_property::Return_number()),
|
||
|
|
std::make_pair (number_of_returns, LAS_property::Number_of_returns()),
|
||
|
|
std::make_pair (scan_direction_flag, LAS_property::Scan_direction_flag()),
|
||
|
|
std::make_pair (edge_of_flight_line, LAS_property::Edge_of_flight_line()),
|
||
|
|
std::make_pair (classification, LAS_property::Classification()),
|
||
|
|
std::make_pair (synthetic_flag, LAS_property::Synthetic_flag()),
|
||
|
|
std::make_pair (keypoint_flag, LAS_property::Keypoint_flag()),
|
||
|
|
std::make_pair (withheld_flag, LAS_property::Withheld_flag()),
|
||
|
|
std::make_pair (scan_angle, LAS_property::Scan_angle()),
|
||
|
|
std::make_pair (user_data, LAS_property::User_data()),
|
||
|
|
std::make_pair (point_source_ID, LAS_property::Point_source_ID()),
|
||
|
|
std::make_pair (deleted_flag, LAS_property::Deleted_flag()),
|
||
|
|
std::make_pair (gps_time, LAS_property::GPS_time()),
|
||
|
|
std::make_pair (R, LAS_property::R()),
|
||
|
|
std::make_pair (G, LAS_property::G()),
|
||
|
|
std::make_pair (B, LAS_property::B()),
|
||
|
|
std::make_pair (I, LAS_property::I()));
|
||
|
|
|
||
|
|
if (remove_intensity) point_set.remove_property_map (intensity);
|
||
|
|
if (remove_return_number) point_set.remove_property_map (return_number);
|
||
|
|
if (remove_number_of_returns) point_set.remove_property_map (number_of_returns);
|
||
|
|
if (remove_scan_direction_flag) point_set.remove_property_map (scan_direction_flag);
|
||
|
|
if (remove_edge_of_flight_line) point_set.remove_property_map (edge_of_flight_line);
|
||
|
|
if (remove_classification) point_set.remove_property_map (classification);
|
||
|
|
if (remove_synthetic_flag) point_set.remove_property_map (synthetic_flag);
|
||
|
|
if (remove_keypoint_flag) point_set.remove_property_map (keypoint_flag);
|
||
|
|
if (remove_withheld_flag) point_set.remove_property_map (withheld_flag);
|
||
|
|
if (remove_scan_angle) point_set.remove_property_map (scan_angle);
|
||
|
|
if (remove_user_data) point_set.remove_property_map (user_data);
|
||
|
|
if (remove_point_source_ID) point_set.remove_property_map (point_source_ID);
|
||
|
|
if (remove_deleted_flag) point_set.remove_property_map (deleted_flag);
|
||
|
|
if (remove_gps_time) point_set.remove_property_map (gps_time);
|
||
|
|
if (remove_R) point_set.remove_property_map (R);
|
||
|
|
if (remove_G) point_set.remove_property_map (G);
|
||
|
|
if (remove_B) point_set.remove_property_map (B);
|
||
|
|
if (remove_I) point_set.remove_property_map (I);
|
||
|
|
|
||
|
|
return okay;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif // LAS
|
||
|
|
#else // CXX11
|
||
|
|
template<typename T>
|
||
|
|
struct template_tag_false : public CGAL::Tag_false
|
||
|
|
{ };
|
||
|
|
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
read_ply_point_set(std::istream&, CGAL::Point_set_3<Point, Vector>&, std::string* = NULL)
|
||
|
|
{
|
||
|
|
CGAL_static_assertion_msg (template_tag_false<Point>::value, "CGAL PLY reader requires a C++11 compiler");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_ply_point_set(std::ostream&, const CGAL::Point_set_3<Point, Vector>&, std::string* = NULL)
|
||
|
|
{
|
||
|
|
CGAL_static_assertion_msg (template_tag_false<Point>::value, "CGAL PLY writer requires a C++11 compiler");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
read_las_point_set(std::istream&, CGAL::Point_set_3<Point, Vector>&)
|
||
|
|
{
|
||
|
|
CGAL_static_assertion_msg (template_tag_false<Point>::value, "CGAL LAS reader requires a C++11 compiler");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_las_point_set(std::ostream&, const CGAL::Point_set_3<Point, Vector>&)
|
||
|
|
{
|
||
|
|
CGAL_static_assertion_msg (template_tag_false<Point>::value, "CGAL LAS writer requires a C++11 compiler");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
#endif // CXX11
|
||
|
|
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_xyz_point_set(
|
||
|
|
std::ostream& stream, ///< output stream.
|
||
|
|
const CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
{
|
||
|
|
if (point_set.has_normal_map())
|
||
|
|
return CGAL::write_xyz_points
|
||
|
|
(stream, point_set,
|
||
|
|
CGAL::parameters::point_map(point_set.point_map()).
|
||
|
|
normal_map(point_set.normal_map()));
|
||
|
|
|
||
|
|
return CGAL::write_xyz_points
|
||
|
|
(stream, point_set,
|
||
|
|
CGAL::parameters::point_map(point_set.point_map()));
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
bool
|
||
|
|
write_off_point_set(
|
||
|
|
std::ostream& stream, ///< output stream.
|
||
|
|
const CGAL::Point_set_3<Point, Vector>& point_set) ///< point set
|
||
|
|
{
|
||
|
|
if (point_set.has_normal_map())
|
||
|
|
return CGAL::write_off_points
|
||
|
|
(stream, point_set,
|
||
|
|
CGAL::parameters::point_map(point_set.point_map()).
|
||
|
|
normal_map(point_set.normal_map()));
|
||
|
|
|
||
|
|
return CGAL::write_off_points
|
||
|
|
(stream, point_set,
|
||
|
|
CGAL::parameters::point_map(point_set.point_map()));
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*!
|
||
|
|
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
|
||
|
|
\brief Reads the point set from an input stream that can be either:
|
||
|
|
|
||
|
|
- XYZ
|
||
|
|
- OFF
|
||
|
|
- PLY
|
||
|
|
- LAS
|
||
|
|
|
||
|
|
The format is detected from the stream. If the stream contains
|
||
|
|
normal vectors, the normal map is added to the point set. For PLY
|
||
|
|
input, all point properties found in the header are added.
|
||
|
|
\relates Point_set_3
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
std::istream& operator>>(std::istream& is,
|
||
|
|
CGAL::Point_set_3<Point, Vector>& ps)
|
||
|
|
{
|
||
|
|
// Check format identifier on first line
|
||
|
|
std::string line;
|
||
|
|
if (!getline(is, line))
|
||
|
|
return is;
|
||
|
|
|
||
|
|
is.seekg(0);
|
||
|
|
if (line.find("OFF") == 0 || line.find("NOFF") == 0)
|
||
|
|
CGAL::read_off_point_set (is, ps);
|
||
|
|
#if !defined(CGAL_CFG_NO_CPP0X_RVALUE_REFERENCE) && !defined(CGAL_CFG_NO_CPP0X_VARIADIC_TEMPLATES)
|
||
|
|
else if (line.find("ply") == 0)
|
||
|
|
CGAL::read_ply_point_set (is, ps);
|
||
|
|
#ifdef CGAL_LINKED_WITH_LASLIB
|
||
|
|
else if (line.find("LASF") == 0)
|
||
|
|
CGAL::read_las_point_set (is, ps);
|
||
|
|
#endif // LAS
|
||
|
|
#endif // CXX11
|
||
|
|
else
|
||
|
|
CGAL::read_xyz_point_set (is, ps);
|
||
|
|
|
||
|
|
return is;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
|
||
|
|
\ingroup PkgPointSet3IO
|
||
|
|
|
||
|
|
\brief Inserts the point set in an output stream in ASCII PLY
|
||
|
|
format. All properties are inserted in their instantiation order.
|
||
|
|
|
||
|
|
\relates Point_set_3
|
||
|
|
*/
|
||
|
|
template <typename Point, typename Vector>
|
||
|
|
std::ostream& operator<<(std::ostream& os,
|
||
|
|
const CGAL::Point_set_3<Point, Vector>& ps)
|
||
|
|
{
|
||
|
|
write_ply_point_set (os, ps);
|
||
|
|
return os;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
} // namespace CGAL
|
||
|
|
|
||
|
|
|
||
|
|
#endif // CGAL_POINT_SET_3_IO
|