void OSG::loadXYZ(string path, VRTransformPtr res) {
cout << "load xyz pointcloud " << path << endl;
res->setName(path);
try {
VRGeoData data;
vector<float> vertex = vector<float>(6);
int i=0;
ifstream file(path);
while (file >> vertex[i]) {
i++;
if (i >= 6) {
i = 0;
data.pushVert(Pnt3d(vertex[0], vertex[1], vertex[2]), Vec3d(0,1,0), Color3f(vertex[3]/255.0, vertex[4]/255.0, vertex[5]/255.0));
data.pushPoint();
}
}
if (data.size()) {
cout << " assemble geometry.. " << endl;
auto geo = data.asGeometry("points");
res->addChild(geo);
}
}
catch (std::exception& ex) { cerr << "Got an std::exception, what=" << ex.what() << endl; return; }
catch (...) { cerr << "Got an unknown exception" << endl; return; }
}
void OSG::loadE57(string path, VRTransformPtr res) {
cout << "load e57 pointcloud " << path << endl;
res->setName(path);
try {
ImageFile imf(path, "r"); // Read file from disk
StructureNode root = imf.root();
if (!root.isDefined("/data3D")) { cout << "File doesn't contain 3D images" << endl; return; }
e57::Node n = root.get("/data3D");
if (n.type() != E57_VECTOR) { cout << "bad file" << endl; return; }
VectorNode data3D(n);
int64_t scanCount = data3D.childCount(); // number of scans in file
cout << " file read succefully, it contains " << scanCount << " scans" << endl;
for (int i = 0; i < scanCount; i++) {
StructureNode scan(data3D.get(i));
string sname = scan.pathName();
CompressedVectorNode points( scan.get("points") );
string pname = points.pathName();
auto cN = points.childCount();
cout << " scan " << i << " contains " << cN << " points\n";
StructureNode proto(points.prototype());
bool hasPos = (proto.isDefined("cartesianX") && proto.isDefined("cartesianY") && proto.isDefined("cartesianZ"));
bool hasCol = (proto.isDefined("colorRed") && proto.isDefined("colorGreen") && proto.isDefined("colorBlue"));
if (!hasPos) continue;
if (hasCol) cout << " scan has colors\n";
else cout << " scan has no colors\n";
for (int i=0; i<proto.childCount(); i++) {
auto child = proto.get(i);
cout << " scan data: " << child.pathName() << endl;
}
vector<SourceDestBuffer> destBuffers;
const int N = 4;
double x[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianX", x, N, true));
double y[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianY", y, N, true));
double z[N]; destBuffers.push_back(SourceDestBuffer(imf, "cartesianZ", z, N, true));
double r[N];
double g[N];
double b[N];
if (hasCol) {
destBuffers.push_back(SourceDestBuffer(imf, "colorRed", r, N, true));
destBuffers.push_back(SourceDestBuffer(imf, "colorGreen", g, N, true));
destBuffers.push_back(SourceDestBuffer(imf, "colorBlue", b, N, true));
}
int Nchunk = 1e6; // separate in chunks because of tcmalloc large alloc issues
VRGeoData data;
unsigned int gotCount = 0;
CompressedVectorReader reader = points.reader(destBuffers);
do {
if (data.size() > Nchunk) {
cout << " assemble geometry.. " << endl;
auto geo = data.asGeometry(pname);
res->addChild(geo);
data = VRGeoData();
}
gotCount = reader.read();
for (unsigned j=0; j < gotCount; j++) {
int v;
if (hasCol) v = data.pushVert(Pnt3d(x[j], y[j], z[j]), Vec3d(0,1,0), Color3f(r[j]/255.0, g[j]/255.0, b[j]/255.0));
else v = data.pushVert(Pnt3d(x[j], y[j], z[j]), Vec3d(0,1,0));
data.pushPoint(v);
}
} while(gotCount);
reader.close();
if (data.size()) {
cout << " assemble geometry.. " << endl;
auto geo = data.asGeometry(pname);
res->addChild(geo);
}
}
imf.close();
}
catch (E57Exception& ex) { ex.report(__FILE__, __LINE__, __FUNCTION__); return; }
catch (std::exception& ex) { cerr << "Got an std::exception, what=" << ex.what() << endl; return; }
catch (...) { cerr << "Got an unknown exception" << endl; return; }
}
bool VRFactory::loadVRML(string path, VRProgressPtr progress, VRTransformPtr res, bool thread) { // wrl filepath
ifstream file(path);
if (!file.is_open()) { cout << "file " << path << " not found" << endl; return true; }
// get file size
file.seekg(0, ios_base::end);
size_t fileSize = file.tellg();
file.seekg(0, ios_base::beg);
if (progress == 0) progress = VRProgress::create();
progress->setup("load VRML " + path, fileSize);
progress->reset();
int state = 0;
map<int, string> states;
states[0] = "Transform "; // 0
states[1] = "diffuseColor "; // 6
states[2] = "coord "; // 21 +2
states[3] = "normal "; // x +2
states[4] = "coordIndex "; // x +1
states[5] = "colorIndex "; // x +1
states[6] = "normalIndex "; // x +1
Vec3f color;
Vec3f last_col(-1,-1,-1);
Geo geo;
Pnt3f v;
Vec3f n;
int i;
//vector<VRGeometryPtr> geos;
vector<Geo> geos;
map<Vec3f, VRMaterialPtr> mats;
bool new_obj = true;
bool new_color = true;
int li = 0;
string line;
while ( getline(file, line) ) {
progress->update( line.size() );
li++;
for (auto d : states) {
//if ( line[d.second.size()-1] != ' ') continue; // optimization
if ( line.compare(0, d.second.size(), d.second) == 0) {
//if (state != d.first) cout << "got on line " << li << ": " << states[d.first] << " instead of: " << states[state] << endl;
switch (d.first) {
case 0: break;
case 1:
new_obj = true;
if (line.size() > 12) color = toVec3f( line.substr(12) );
if (mats.count(color) == 0) {
mats[color] = VRMaterial::create("fmat");
mats[color]->setDiffuse(color);
}
if (color != last_col) {
new_color = true;
last_col = color;
}
break;
case 2:
geo.updateN();
break;
case 3: break;
case 4: break;
case 5: break;
}
state = d.first+1;
if (state == 7) state = 0;
break;
}
}
if (line[0] != ' ') continue;
if (state == 6) continue; // skip color indices
stringstream ss(line);
switch (state) {
case 3:
while(ss >> v[0] && ss >> v[1] && ss >> v[2] && ss.get()) {
if (!new_color && new_obj) new_obj = !geo.inBB(v); // strange artifacts!!
geo.updateBB(v);
if (new_obj) {
new_obj = false;
new_color = false;
geo.init(geos, mats[color], path, thread);
}
geo.pos->addValue(v);
}
break;
case 4:
while(ss >> n[0] && ss >> n[1] && ss >> n[2] && ss.get()) geo.norms->addValue( n );
break;
case 5:
while(ss >> i && ss.get()) if (i >= 0) geo.inds_p->addValue( geo.Np + i );
break;
case 0:
while(ss >> i && ss.get()) if (i >= 0) geo.inds_n->addValue( geo.Nn + i );
break;
}
}
file.close();
cout << "\nloaded " << geos.size() << " geometries" << endl;
if (geos.size() == 0) { progress->reset(); return false; }
res->setName("factory");
res->setPersistency(0);
for (auto g : geos) {
//Vec3f d = g.vmax - g.vmin;
//if (d.length() < 0.1) continue; // skip very small objects
if (g.inds_n->size() != g.inds_p->size()) { // not happening
cout << " wrong indices lengths: " << g.inds_p->size() << " " << g.inds_n->size() << endl;
continue;
}
if (g.inds_p->size() == 0) { // not happening
cout << " empty geo: " << g.inds_p->size() << " " << g.inds_n->size() << endl;
continue;
}
res->addChild(g.geo);
GeoUInt32PropertyRecPtr Length = GeoUInt32Property::create();
Length->addValue(g.geo->getMesh()->getIndices()->size());
g.geo->setLengths(Length);
}
cout << "\nloaded2 " << res->getChildrenCount() << " geometries" << endl;
progress->finish();
return true;
}