Merge pull request #1058 from Tonsty/master

save normal and curvature in binay format
PointCloudLibrary · Dec 24, 2014 · ac4205a · ac4205a
2 parents 67f976d + 55a4e70
commit ac4205a
Showing 1 changed file with 32 additions and 0 deletions.
diff --git a/io/src/ply_io.cpp b/io/src/ply_io.cpp
@@ -1648,6 +1648,22 @@ pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh
           "\nproperty uchar green"
           "\nproperty uchar blue";
   }
+  // Check if we have normal on vertices
+  int normal_x_index = getFieldIndex(mesh.cloud, "normal_x");
+  int normal_y_index = getFieldIndex(mesh.cloud, "normal_y");
+  int normal_z_index = getFieldIndex(mesh.cloud, "normal_z");
+  if (normal_x_index != -1 && normal_y_index != -1 && normal_z_index != -1)
+  {
+	  fs << "\nproperty float nx"
+		  "\nproperty float ny"
+		  "\nproperty float nz";
+  }
+  // Check if we have curvature on vertices
+  int curvature_index = getFieldIndex(mesh.cloud, "curvature");
+  if ( curvature_index != -1)
+  {
+	  fs << "\nproperty float curvature";
+  }
   // Faces
   fs << "\nelement face "<< nr_faces;
   fs << "\nproperty list uchar int vertex_indices";
@@ -1707,6 +1723,22 @@ pcl::io::savePLYFileBinary (const std::string &file_name, const pcl::PolygonMesh
         fpout.write (reinterpret_cast<const char*> (&color.b), sizeof (unsigned char));
         fpout.write (reinterpret_cast<const char*> (&color.a), sizeof (unsigned char));
       }
+      else if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
+               mesh.cloud.fields[d].name == "normal_x" ||
+               mesh.cloud.fields[d].name == "normal_y" ||
+               mesh.cloud.fields[d].name == "normal_z"))
+      {
+        float value;
+        memcpy (&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
+        fpout.write (reinterpret_cast<const char*> (&value), sizeof (float));
+      }
+      else if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && 
+               (mesh.cloud.fields[d].name == "curvature"))
+      {
+        float value;
+        memcpy (&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
+        fpout.write (reinterpret_cast<const char*> (&value), sizeof (float));        
+      }
     }
     if (xyz != 3)
     {