1 | #include <iostream> |
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2 | #include <stdlib.h> |
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3 | #include <strings.h> |
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4 | |
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5 | #ifdef LINUX |
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6 | #include <string.h> |
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7 | #endif |
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8 | |
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9 | // xyz2ply by Sean Anderson, 1999. |
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10 | // Based loosely on cyra2ply, by Lucas Periera |
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11 | // Converts a NRC xyz laser range image file to a ply file. |
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12 | |
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13 | // Compile with: CC -o xyz2ply xyz2ply.cc |
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14 | |
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15 | void |
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16 | printUsage(const char * name) |
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17 | { |
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18 | std::cerr << "Convert NRC xyz laser range scan to a ply file.\n" |
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19 | << "Usage:\n" |
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20 | << " " << name |
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21 | << " -h | [-r] [headersize [rows [colunms]]] < file.xyz > file.ply\n" |
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22 | << "where:\n" |
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23 | << " -h Shows this help\n" |
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24 | << " -r Reverses the order of points in a row\n" |
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25 | << " headersize Override the size of the header to be headersize\n" |
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26 | << " rows Override the number of rows\n" |
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27 | << " columns Override the number of columns\n"; |
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28 | } |
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29 | |
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30 | int |
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31 | main(int argc, char * argv[]) |
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32 | { |
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33 | int cols = -1; |
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34 | int rows = -1; |
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35 | int headersize = -1; |
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36 | bool reverse = false; |
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37 | |
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38 | for (int c = 1; c < argc; c++) |
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39 | { |
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40 | if (!strcmp(argv[c], "-h")) |
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41 | { |
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42 | printUsage(argv[0]); |
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43 | return 1; |
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44 | } |
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45 | else if (!strcmp(argv[c], "-r")) |
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46 | { |
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47 | reverse = true; |
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48 | } |
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49 | else if (headersize == -1) |
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50 | { |
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51 | headersize = atoi(argv[c]); |
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52 | } |
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53 | else if (cols == -1) |
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54 | { |
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55 | cols = atoi(argv[c]); |
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56 | } |
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57 | else if (rows == -1) |
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58 | { |
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59 | rows = atoi(argv[c]); |
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60 | } |
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61 | else |
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62 | { |
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63 | std::cerr << "Too many arguments!\n"; |
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64 | printUsage(argv[0]); |
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65 | } |
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66 | } |
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67 | |
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68 | // If header size not given, try to find in the file. |
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69 | if (headersize == -1) |
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70 | { |
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71 | std::cin.seekg(80, std::ios::beg); |
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72 | if (!std::cin) |
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73 | { |
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74 | std::cerr << "Header too short\n"; |
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75 | return 1; |
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76 | } |
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77 | std::cin.read((char *) &headersize, sizeof(headersize)); |
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78 | if (!std::cin) |
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79 | { |
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80 | std::cerr << "Couldn't read header size\n"; |
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81 | return 1; |
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82 | } |
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83 | } |
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84 | |
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85 | if (cols == -1) |
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86 | { |
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87 | std::cin.seekg(244, std::ios::beg); |
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88 | if (!std::cin) |
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89 | { |
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90 | std::cerr << "Header too short\n"; |
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91 | return 1; |
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92 | } |
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93 | std::cin.read((char *) &cols, sizeof(cols)); |
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94 | if (!std::cin) |
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95 | { |
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96 | std::cerr << "Couldn't read number of columns\n"; |
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97 | return 1; |
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98 | } |
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99 | } |
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100 | |
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101 | if (rows == -1) |
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102 | { |
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103 | std::cin.seekg(248, std::ios::beg); |
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104 | if (!std::cin) |
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105 | { |
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106 | std::cerr << "Header too short\n"; |
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107 | return 1; |
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108 | } |
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109 | std::cin.read((char *) &rows, sizeof(rows)); |
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110 | if (!std::cin) |
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111 | { |
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112 | std::cerr << "Couldn't read number of rows\n"; |
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113 | return 1; |
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114 | } |
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115 | } |
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116 | |
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117 | |
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118 | std::cin.seekg(headersize, std::ios::beg); |
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119 | if (!std::cin) |
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120 | { |
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121 | std::cerr << "File too short; couldn't seek to start of xyz data\n"; |
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122 | return 1; |
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123 | } |
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124 | |
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125 | typedef float float3[3]; |
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126 | |
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127 | float3 * pts = new float3 [rows * cols]; |
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128 | int * grid = new int[rows * cols]; |
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129 | int * pgrid = grid; |
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130 | int index = 0; |
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131 | |
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132 | int row, col; |
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133 | for (row = 0; row < rows; row++) |
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134 | { |
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135 | for (col = 0; col < cols; col++, pgrid++) |
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136 | { |
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137 | std::cin.read((char *) &pts[index], sizeof(pts[index])); |
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138 | |
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139 | if (!std::cin) |
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140 | { |
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141 | std::cerr << "File too short\n"; |
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142 | return 1; |
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143 | } |
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144 | |
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145 | if (pts[index][0] == -1 && pts[index][1] == -1 && pts[index][2] == -1) |
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146 | { |
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147 | *pgrid = -1; |
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148 | } |
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149 | else |
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150 | { |
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151 | *pgrid = index; |
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152 | index++; |
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153 | } |
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154 | } |
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155 | } |
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156 | |
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157 | const int numVerts = index; |
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158 | |
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159 | std::cout << "ply\n" |
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160 | << "format ascii 1.0\n" |
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161 | << "obj_info is_cyberware_data 0\n" |
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162 | << "obj_info is_mesh 0\n" |
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163 | << "obj_info is_warped 0\n" |
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164 | << "obj_info is_interlaced 0\n" |
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165 | << "obj_info num_cols " << cols << std::endl |
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166 | << "obj_info num_rows " << rows << std::endl |
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167 | << "element vertex " << numVerts << std::endl |
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168 | << "property float x\n" |
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169 | << "property float y\n" |
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170 | << "property float z\n" |
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171 | << "element range_grid " << rows * cols << std::endl |
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172 | << "property list uchar int vertex_indices\n" |
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173 | << "end_header\n"; |
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174 | |
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175 | for (index = 0; index < numVerts; index++) |
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176 | { |
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177 | std::cout << pts[index][0] << " " |
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178 | << pts[index][1] << " " |
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179 | << pts[index][2] << std::endl; |
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180 | } |
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181 | |
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182 | pgrid = grid; |
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183 | for (row = 0; row < rows; row++) |
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184 | { |
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185 | if (reverse) |
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186 | { |
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187 | pgrid = grid + (1 + row) * cols - 1; |
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188 | } |
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189 | |
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190 | for (col = 0; col < cols; col++) |
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191 | { |
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192 | if (*pgrid < 0) |
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193 | { |
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194 | std::cout << "0\n"; |
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195 | } |
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196 | else |
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197 | { |
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198 | std::cout << "1 " << *pgrid << std::endl; |
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199 | } |
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200 | |
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201 | if (reverse) |
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202 | { |
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203 | pgrid--; |
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204 | } |
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205 | else |
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206 | { |
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207 | pgrid++; |
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208 | } |
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209 | } |
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210 | } |
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211 | } |
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