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fixed PointCloud::ExportPly
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@hyperlogic
hyperlogic committed Jun 29, 2024
1 parent 48767c4 commit 7d44266
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Showing 3 changed files with 148 additions and 83 deletions.
165 changes: 111 additions & 54 deletions src/ply.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@

#include "core/log.h"


static bool CheckLine(std::ifstream& plyFile, const std::string& validLine)
{
std::string line;
Expand All @@ -38,11 +37,105 @@ static bool GetNextPlyLine(std::ifstream& plyFile, std::string& lineOut)
return false;
}

static const char* BinaryAttributeTypeToString(BinaryAttribute::Type type)
{
switch (type)
{
case BinaryAttribute::Type::Char:
return "char";
case BinaryAttribute::Type::UChar:
return "uchar";
case BinaryAttribute::Type::Short:
return "short";
case BinaryAttribute::Type::UShort:
return "ushort";
case BinaryAttribute::Type::Int:
return "int";
case BinaryAttribute::Type::UInt:
return "uint";
case BinaryAttribute::Type::Float:
return "float";
case BinaryAttribute::Type::Double:
return "double";
default:
assert(false); // bad attribute type
return "unknown";
};
}

Ply::Ply() : vertexCount(0), vertexSize(0)
{
;
}

bool Ply::Parse(std::ifstream& plyFile)
{
if (!ParseHeader(plyFile))
{
return false;
}

// read rest of file into data ptr
{
ZoneScopedNC("Ply::Parse() read data", tracy::Color::Yellow);
AllocData(vertexCount);
plyFile.read((char*)data.get(), vertexSize * vertexCount);
}

return true;
}

void Ply::Dump(std::ofstream& plyFile) const
{
DumpHeader(plyFile);
plyFile.write((char*)data.get(), vertexSize * vertexCount);
}

bool Ply::GetProperty(const std::string& key, BinaryAttribute& binaryAttributeOut) const
{
auto iter = propertyMap.find(key);
if (iter != propertyMap.end())
{
binaryAttributeOut = iter->second;
return true;
}
return false;
}

void Ply::AddProperty(const std::string& key, BinaryAttribute::Type type)
{
using PropInfoPair = std::pair<std::string, BinaryAttribute>;
BinaryAttribute attrib(type, vertexSize);
propertyMap.emplace(PropInfoPair(key, attrib));
vertexSize += attrib.size;
}

void Ply::AllocData(size_t numVertices)
{
vertexCount = numVertices;
data.reset(new uint8_t[vertexSize * numVertices]);
}

void Ply::ForEachVertex(const VertexCallback& cb) const
{
const uint8_t* ptr = data.get();
for (size_t i = 0; i < vertexCount; i++)
{
cb(ptr, vertexSize);
ptr += vertexSize;
}
}

void Ply::ForEachVertexMut(const VertexCallbackMut& cb)
{
uint8_t* ptr = data.get();
for (size_t i = 0; i < vertexCount; i++)
{
cb(ptr, vertexSize);
ptr += vertexSize;
}
}

bool Ply::ParseHeader(std::ifstream& plyFile)
{
ZoneScopedNC("Ply::ParseHeader", tracy::Color::Green);
Expand Down Expand Up @@ -159,65 +252,29 @@ bool Ply::ParseHeader(std::ifstream& plyFile)
return true;
}

bool Ply::Parse(std::ifstream& plyFile)
void Ply::DumpHeader(std::ofstream& plyFile) const
{
if (!ParseHeader(plyFile))
{
return false;
}
// ply files have unix line endings.
plyFile << "ply\n";
plyFile << "format binary_little_endian 1.0\n";
plyFile << "element vertex " << vertexCount << "\n";

// read rest of file into data ptr
{
ZoneScopedNC("Ply::Parse() read data", tracy::Color::Yellow);
AllocData(vertexCount);
plyFile.read((char*)data.get(), vertexSize * vertexCount);
}

return true;
}

bool Ply::GetProperty(const std::string& key, BinaryAttribute& binaryAttributeOut) const
{
auto iter = propertyMap.find(key);
if (iter != propertyMap.end())
{
binaryAttributeOut = iter->second;
return true;
}
return false;
}

void Ply::AddProperty(const std::string& key, BinaryAttribute::Type type)
{
// sort properties by offset
using PropInfoPair = std::pair<std::string, BinaryAttribute>;
BinaryAttribute attrib(type, vertexSize);
propertyMap.emplace(PropInfoPair(key, attrib));
vertexSize += attrib.size;
}

void Ply::AllocData(size_t numVertices)
{
data.reset(new uint8_t[vertexSize * numVertices]);
}

void Ply::ForEachVertex(const VertexCallback& cb) const
{
const uint8_t* ptr = data.get();
for (size_t i = 0; i < vertexCount; i++)
std::vector<PropInfoPair> propVec;
propVec.reserve(propertyMap.size());
for (auto& pair : propertyMap)
{
cb(ptr, vertexSize);
ptr += vertexSize;
propVec.push_back(pair);
}
}
std::sort(propVec.begin(), propVec.end(), [](const PropInfoPair& a, const PropInfoPair& b)
{
return a.second.offset < b.second.offset;
});

void Ply::ForEachVertexMut(const VertexCallbackMut& cb)
{
uint8_t* ptr = data.get();
for (size_t i = 0; i < vertexCount; i++)
for (auto& pair : propVec)
{
cb(ptr, vertexSize);
ptr += vertexSize;
plyFile << "property " << BinaryAttributeTypeToString(pair.second.type) << " " << pair.first << "\n";
}
plyFile << "end_header\n";
}


2 changes: 2 additions & 0 deletions src/ply.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ class Ply
public:
Ply();
bool Parse(std::ifstream& plyFile);
void Dump(std::ofstream& plyFile) const;

bool GetProperty(const std::string& key, BinaryAttribute& attributeOut) const;
void AddProperty(const std::string& key, BinaryAttribute::Type type);
Expand All @@ -36,6 +37,7 @@ class Ply

protected:
bool ParseHeader(std::ifstream& plyFile);
void DumpHeader(std::ofstream& plyFile) const;

std::unordered_map<std::string, BinaryAttribute> propertyMap;
std::unique_ptr<uint8_t> data;
Expand Down
64 changes: 35 additions & 29 deletions src/pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,9 +132,6 @@ bool PointCloud::ImportPly(const std::string& plyFilename)

bool PointCloud::ExportPly(const std::string& plyFilename) const
{
// AJT: TODO
return false;

std::ofstream plyFile(plyFilename, std::ios::binary);
if (!plyFile.is_open())
{
Expand All @@ -153,37 +150,46 @@ bool PointCloud::ExportPly(const std::string& plyFilename) const
ply.AddProperty("green", BinaryAttribute::Type::UChar);
ply.AddProperty("blue", BinaryAttribute::Type::UChar);

struct
{
BinaryAttribute x, y, z;
BinaryAttribute nx, ny, nz;
BinaryAttribute red, green, blue;
} props;

ply.GetProperty("x", props.x);
ply.GetProperty("y", props.y);
ply.GetProperty("z", props.z);
ply.GetProperty("nx", props.nx);
ply.GetProperty("ny", props.ny);
ply.GetProperty("nz", props.nz);
ply.GetProperty("red", props.red);
ply.GetProperty("green", props.green);
ply.GetProperty("blue", props.blue);

ply.AllocData(numPoints);

ply.ForEachVertexMut([this](void* data, size_t size)
uint8_t* cloudData = (uint8_t*)data.get();
size_t runningSize = 0;
ply.ForEachVertexMut([this, &props, &cloudData, &runningSize](void* plyData, size_t size)
{
//
const float* position = positionAttrib.Get<float>(cloudData);
props.x.Write<float>(plyData, position[0]);
props.y.Write<float>(plyData, position[1]);
props.z.Write<float>(plyData, position[2]);
props.nx.Write<float>(plyData, 0.0f);
props.ny.Write<float>(plyData, 0.0f);
props.nz.Write<float>(plyData, 0.0f);
const float* color = colorAttrib.Get<float>(cloudData);
props.red.Write<uint8_t>(plyData, (uint8_t)(color[0] * 255.0f));
props.green.Write<uint8_t>(plyData, (uint8_t)(color[1] * 255.0f));
props.blue.Write<uint8_t>(plyData, (uint8_t)(color[2] * 255.0f));
cloudData += pointSize;
runningSize += pointSize;
assert(runningSize <= GetTotalSize()); // bad, we went outside of data ptr contents.
});

/*
// ply files have unix line endings.
plyFile << "ply\n";
plyFile << "format binary_little_endian 1.0\n";
plyFile << "element vertex " << numPoints << "\n";
plyFile << "property float x\n";
plyFile << "property float y\n";
plyFile << "property float z\n";
plyFile << "property float nx\n";
plyFile << "property float ny\n";
plyFile << "property float nz\n";
plyFile << "property uchar red\n";
plyFile << "property uchar green\n";
plyFile << "property uchar blue\n";
plyFile << "end_header\n";
*/

/*
const size_t POINT_SIZE = 27;
for (auto&& p : pointDataVec)
{
plyFile.write((char*)&p, POINT_SIZE);
}
*/
ply.Dump(plyFile);

return true;
}
Expand Down

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