/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.1 2005/05/06 13:58:26 callieri
First working version (callieri)
****************************************************************************/
#ifndef __VCGLIB_IMPORT_RAW
#define __VCGLIB_IMPORT_RAW
#include <stdio.h>
namespace vcg {
namespace tri {
namespace io {
/**
This class encapsulate a filter for importing raw format pointcloud.
there exists many raw formats. each one with a particular sintax even if they only contains
*/
template <class MESH_TYPE>
class ImporterRAW
{
public:
typedef typename MESH_TYPE::VertexPointer VertexPointer;
typedef typename MESH_TYPE::ScalarType ScalarType;
typedef typename MESH_TYPE::VertexType VertexType;
typedef typename MESH_TYPE::FaceType FaceType;
typedef typename MESH_TYPE::VertexIterator VertexIterator;
typedef typename MESH_TYPE::FaceIterator FaceIterator;
// max token number
#define RAW_MAX_TOKEN_LINE_DESCRIPTOR 32
enum RAWError {
E_NOERROR, // 0
// Error open
E_CANTOPEN, // 1
E_UNESPECTEDEOF, // 2
// error line descriptor
E_INVALIDLINEDESC, // 3
// error line parsing
E_LINEERROR, // 4
// wrong number of points
E_WRONGPOINTNUM // 5
};
static const char *ErrorMsg(int error)
{
static const char * raw_error_msg[] =
{
"No errors",
"Can't open file",
"Premature End of file",
"Invalid line Descriptor",
"Error parsing a line",
"Point number different from expected"
};
if(error>2 || error<0) return "Unknown error";
else return stl_error_msg[error];
};
// line format is a string describing which data is stored for every data line
// PX PY PZ posizione
// NX NY NZ normale
// CR CG CB colore
// RF riflettanza (qualita')
//
// the string is parsed to know how many value are contained in each line
// and which is the order. the result is a number (how many) and a vector
// describing the order
//
//
// during reading a data structure is used to store intermediate values
// it is basically an array of float
//
// float linebuffer[]
//[0][1][2][3][4][5][6][7][8][9]
// p p p n n n c c c r
// x y z x y z r g b f
//
// given the number of tokens and the order vector it is possible to scan a line using the command
//
// for(...n 0->tokennumber...)
// fscanf(fp,"%f", &linebuffer[tokenorder[n]])
static int Parselinedescription(const char * linedesc, int &tokennumber, int *order)
{
int ii;
char tok[3];
int index;
// controllo lunghezza
// se non e' multiplo di 3 allora e' errato
int len = strlen(linedesc) + 1;
if(len%3 != 0)
return E_INVALIDLINEDESC;
index=0;
tok[2] = '\0';
tokennumber = 0;
for(ii=0; ii<RAW_MAX_TOKEN_LINE_DESCRIPTOR; ii++)
order[ii] = -1;
while(index <= (len-3))
{
tok[0] = linedesc[index ];
tok[1] = linedesc[index+1];
if(strcmp(tok,"PX") == 0) // pos x
{order[tokennumber] = 0; tokennumber++;}
else if (strcmp(tok,"PY") == 0) // pos y
{order[tokennumber] = 1; tokennumber++;}
else if (strcmp(tok,"PZ") == 0) // pos z
{order[tokennumber] = 2; tokennumber++;}
else if (strcmp(tok,"NX") == 0) // norm x
{order[tokennumber] = 3; tokennumber++;}
else if (strcmp(tok,"NY") == 0) // norm y
{order[tokennumber] = 4; tokennumber++;}
else if (strcmp(tok,"NZ") == 0) // norm z
{order[tokennumber] = 5; tokennumber++;}
else if (strcmp(tok,"CR") == 0) // col r
{order[tokennumber] = 6; tokennumber++;}
else if (strcmp(tok,"CG") == 0) // col g
{order[tokennumber] = 7; tokennumber++;}
else if (strcmp(tok,"CB") == 0) // col b
{order[tokennumber] = 8; tokennumber++;}
else if (strcmp(tok,"RF") == 0) // rifl
{order[tokennumber] = 9; tokennumber++;}
else // nessuno dei suddetti... errore
{ return E_INVALIDLINEDESC; }
index +=3;
}
return E_NOERROR;
}
// function to skip a line
static void Skipline(FILE *fp)
{
char buf;
fread(&(buf),sizeof(char),1,fp);
while(buf != '\n')
fread(&(buf),sizeof(char),1,fp);
}
// function to parse the line read from the raw file
// all characters besides numerals,dot,minus,plus
// if e is found between numbers it's ketpt (12e4)
static int Parseline(int tokennumber, int *tokenorder, char *rawline, float *linebuffer)
{
int linelen;
int ii;
bool change;
int foundtok;
// length
linelen = strlen(rawline);
// cleaning the line
for(ii=0;ii<(linelen-1);)
{
change = true;
if(isdigit(rawline[ii])) // is a number
change = false;
else if(rawline[ii]==' ') // is a space
change = false;
else if((rawline[ii]=='-') || (rawline[ii]=='+') || (rawline[ii]=='-') || (rawline[ii]=='.')) // is + - .
change = false;
else if(rawline[ii]=='e') // is e... is perhaps an exponential ?
{
if((ii>0) || (ii<(linelen-2))) // if it's at the begin or the end of line, it's not an exponential
if(isdigit(rawline[ii-1])) // a number before it
if(isdigit(rawline[ii+1]) || (rawline[ii+1]=='+') || (rawline[ii+1]=='-')) // after it a number a plus or a minus
change = false;
}
if(change)
rawline[ii++] = ' '; // then change it to ' '
else
ii++;
}
rawline[linelen] = '\0';
// now parsing the line
foundtok = 0;
ii = 0;
while((foundtok<tokennumber)&&(ii<linelen))
{
//find the next token begin
while(rawline[ii] == ' ')
ii++;
foundtok++;
sscanf(&(rawline[ii]),"%f", &(linebuffer[tokenorder[foundtok-1]]));
// going after the token
while((rawline[ii] != ' ')&&(rawline[ii] != '\0'))
ii++;
}
if(foundtok<tokennumber)
return E_LINEERROR;
else
return E_NOERROR;
}
/*!
* Standard call for reading a mesh
* \param m the destination mesh
* \param filename the name of the file to read from
* \param triangulate if true, the mesh will be triangulated, otherwise only points will be stored
* \param lineskip number of lines to be skipped at the begin of the file
* \return the operation result
*/
static int Open( MESH_TYPE &m, const char * filename, bool triangulate=false, int lineskip = 0, const char * linedesc = "PX PY PZ")
{
int ii;
int ret;
FILE *fp;
int rownumber;
int colnumber;
// line description
int tokennumber;
int tokenorder[RAW_MAX_TOKEN_LINE_DESCRIPTOR];
// line read from file, to be parsed
char rawline[512];
//line data buffer
float linebuffer[10];
// fill buffer with standard values
linebuffer[0] = linebuffer[1] = linebuffer[2] = 0.0;
linebuffer[3] = linebuffer[4] = linebuffer[5] = 1.0;
linebuffer[6] = 0.0; linebuffer[7] = 1.0; linebuffer[8] = 0.0;
linebuffer[9] = 1.0;
fp = fopen(filename, "r");
if(fp == NULL)
{
return E_CANTOPEN;
}
// skip initial lines
for(ii=0; ii<lineskip; ii++)
Skipline(fp);
// in raw files with indication of rows and columns it's also possible to triangulate points
// after the skipped lines there should be the number of row and columns
if(triangulate)
{
fscanf(fp,"%i", &(rownumber));
fscanf(fp,"%i\n", &(colnumber));
}
// parsing line description
ret = Parselinedescription(linedesc, tokennumber, tokenorder);
if(ret)
return ret;
m.Clear();
// FaceIterator fi=Allocator<OpenMeshType>::AddFaces(m,facenum);
// VertexIterator vi=Allocator<OpenMeshType>::AddVertices(m,facenum*3);
while(!feof(fp))
{
/**/
//read a new line
ii=0;
fread(&(rawline[ii++]),sizeof(char),1,fp);
while(rawline[ii-1] != '\n')
fread(&(rawline[ii++]),sizeof(char),1,fp);
rawline[ii-1] = '\0';
if(strlen(rawline) >0) // empty line, just skip
{
ret = Parseline(tokennumber, tokenorder, rawline, linebuffer);
if(ret)
return ret;
/*
// old code reading directly fom file stream
for(ii=0; ii<tokennumber; ii++)
fscanf(fp,"%f", &(linebuffer[tokenorder[ii]]));
*/
// new vertex
VertexType nv;
// store the position
nv.P()[0] = linebuffer[0];
nv.P()[1] = linebuffer[1];
nv.P()[2] = linebuffer[2];
// store the normal
if(m.HasPerVertexNormal())
{
nv.N()[0] = linebuffer[3];
nv.N()[1] = linebuffer[4];
nv.N()[2] = linebuffer[5];
}
// store the color
if(m.HasPerVertexColor())
{
nv.C()[0] = linebuffer[6];
nv.C()[1] = linebuffer[7];
nv.C()[2] = linebuffer[8];
}
// store the reflectance
if(m.HasPerVertexQuality())
{
nv.Q() = linebuffer[9];
}
m.vert.push_back(nv);
} // end if zero length
}
// update model point number
m.vn = m.vert.size();
// now generate the triangles
if(triangulate)
{
int rr,cc;
if(m.vn != (rownumber * colnumber))
return E_WRONGPOINTNUM;
int trinum = (rownumber-1) * (colnumber-1) * 2;
FaceIterator fi=Allocator<MESH_TYPE>::AddFaces(m,trinum);
m.fn = 0;
for(rr=0; rr<rownumber-1; rr++)
for(cc=0; cc<colnumber-1; cc++)
{
// upper tri
(*fi).V(0) = &(m.vert[(rr ) + ((cc ) * rownumber)]);
(*fi).V(1) = &(m.vert[(rr+1) + ((cc ) * rownumber)]);
(*fi).V(2) = &(m.vert[(rr ) + ((cc+1) * rownumber)]);
m.fn++;
fi++;
// lower tri
(*fi).V(0) = &(m.vert[(rr+1) + ((cc ) * rownumber)]);
(*fi).V(1) = &(m.vert[(rr+1) + ((cc+1) * rownumber)]);
(*fi).V(2) = &(m.vert[(rr ) + ((cc+1) * rownumber)]);
/**/
m.fn++;
fi++;
}
++fi;
}
fclose(fp);
return E_NOERROR;
}
}; // end class
} // end Namespace tri
} // end Namespace io
} // end Namespace vcg
#endif