Easy3D 2.5.3
Classes | Static Public Member Functions | List of all members
PointCloudIO_vg Class Reference

Implementation of file input/output operations for vertex group (VG) format PointCloud. More...

#include <easy3d/fileio/point_cloud_io_vg.h>

Static Public Member Functions

static bool load_vg (const std::string &file_name, PointCloud *cloud)
 Reads a point cloud from an ASCII file. More...
 
static bool save_vg (const std::string &file_name, const PointCloud *cloud)
 Saves a point_cloud to an ASCII file. More...
 
static bool load_bvg (const std::string &file_name, PointCloud *cloud)
 Reads a point cloud from a binary file. More...
 
static bool save_bvg (const std::string &file_name, const PointCloud *cloud)
 Saves a point_cloud to a binary file. More...
 

Detailed Description

Implementation of file input/output operations for vertex group (VG) format PointCloud.

The vertex group (VG) format stores the point cloud and its segmentation information. A segment is represented by a set of indices of the points in the segment.

File format specification

num_points: N // N is an integer denoting the number of points
x1 y1 z1 // 3 floating point numbers
...
xN yN zN
// the colors of the points
num_colors: N // N is an integer denoting the number of colors (can be 0; if not, it must equal to num_points)
r1 g1 b1 // 3 floating point numbers
...
rN gN bN
// the normals of the points
num_normals: N // N is an integer denoting the number of normals (can be 0; if not, it must equal to num_points)
nx1 ny1 nz1 // 3 floating point numbers
...
nxN nyN nzN
// now we store the segmentation information
num_groups: M // M is an integer denoting the number of segments/primitives/objects in this point cloud (can be 0)
// now the information for the 1st segment/primitive/object
group_type: type // integer denoting the of the segment (0: PLANE, 1: CYLINDER, 2: SPHERE, 3: CONE, 4: TORUS, 5: GENERAL)
num_group_parameters: NUM_GROUP_PARAMETERS // integer number denoting the number of floating point values representing the segment (e.g., 4 for planes)
group_parameters: float[NUM_GROUP_PARAMETERS] // a sequence of NUM_GROUP_PARAMETERS floating point numbers (e.g., a, b, c, and d for a plane)
group_label: label // the label (a string) of the segment
group_color: r g b // 3 floating point numbers denoting the color of this segment
group_num_points: N // N is an integer denoting the number of points in this segment (can be 0)
id1 ... idN // N integer numbers denoting the indices of the points in this segment
num_children: num // a segment/primitive/object may contain subsegment (that has the same representation as this segment)
...
group_type: type // integer denoting the of the segment (0: PLANE, 1: CYLINDER, 2: SPHERE, 3: CONE, 4: TORUS, 5: GENERAL)
num_group_parameters: NUM_GROUP_PARAMETERS // integer number denoting the number of floating point values representing the segment (e.g., 4 for planes)
group_parameters: float[NUM_GROUP_PARAMETERS] // a sequence of NUM_GROUP_PARAMETERS floating point numbers (e.g., a, b, c, and d for a plane)
group_label: label // the label (a string) of the segment
group_color: r g b // 3 floating point numbers denoting the color of this segment
group_num_points: N // N is an integer denoting the number of points in this segment (can be 0)
id1 ... idN // N integer numbers denoting the indices of the points in this segment
num_children: num // a segment/primitive/object may contain subsegment (that has the same representation as this segment)
...

Member Function Documentation

◆ load_bvg()

bool load_bvg ( const std::string &  file_name,
PointCloud *  cloud 
)
static

Reads a point cloud from a binary file.

Parameters
file_nameThe file name.
cloudThe point cloud to write to.
Returns
The status of the operation
  • true if succeeded
  • false if failed

◆ load_vg()

bool load_vg ( const std::string &  file_name,
PointCloud *  cloud 
)
static

Reads a point cloud from an ASCII file.

Parameters
file_nameThe file name.
cloudThe point cloud to write to.
Returns
The status of the operation
  • true if succeeded
  • false if failed

◆ save_bvg()

bool save_bvg ( const std::string &  file_name,
const PointCloud *  cloud 
)
static

Saves a point_cloud to a binary file.

Parameters
file_nameThe file name.
cloudThe point cloud.
Returns
The status of the operation
  • true if succeeded
  • false if failed

◆ save_vg()

bool save_vg ( const std::string &  file_name,
const PointCloud *  cloud 
)
static

Saves a point_cloud to an ASCII file.

Parameters
file_nameThe file name.
cloudThe point cloud.
Returns
The status of the operation
  • true if succeeded
  • false if failed
The documentation for this class was generated from the following files: