pc_io.cpp

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/* License Information
 *
 *  Copyright (C) ONERA, The French Aerospace Lab
 *  Author: Alexandre BOULCH
 *
 *  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.
 *
 *
 *  Note that this library relies on external libraries subject to their own
 * license. To use this software, you are subject to the dependencies license,
 * these licenses applies to the dependency ONLY  and NOT this code. Please
 * refer below to the web sites for license informations: PCL, BOOST,NANOFLANN,
 * EIGEN, LUA TORCH
 *
 * When using the software please aknowledge the  corresponding publication:
 * "Deep Learning for Robust Normal Estimation in Unstructured Point Clouds "
 * by Alexandre Boulch and Renaud Marlet
 * Symposium of Geometry Processing 2016, Computer Graphics Forum
 */
 
#include "pc_io.h"
 
#include <fstream>
#include <iostream>
#include <sstream>
#include <vector>
 
using namespace std;
 
void pc_load(const std::string& filename, Eigen::MatrixX3d& pc) {
    ifstream istr(filename.c_str());
    vector<Eigen::Vector3d> points;
    string line;
    double x, y, z;
    while (getline(istr, line)) {
        stringstream sstr("");
        sstr << line;
        sstr >> x >> y >> z;
        points.push_back(Eigen::Vector3d(x, y, z));
    }
    istr.close();
    pc.resize(points.size(), 3);
    for (int i = 0; i < points.size(); i++) {
        pc.row(i) = points[i];
    }
}
 
void pc_save(const std::string& filename,
             const Eigen::MatrixX3d& pc,
             const Eigen::MatrixX3d& normals) {
    ofstream ofs(filename.c_str());
    for (int i = 0; i < pc.rows(); i++) {
        ofs << pc(i, 0) << " ";
        ofs << pc(i, 1) << " ";
        ofs << pc(i, 2) << " ";
        ofs << normals(i, 0) << " ";
        ofs << normals(i, 1) << " ";
        ofs << normals(i, 2) << endl;
    }
    ofs.close();
}