RxpIO.cpp

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#include <iostream>
#include <assert.h>
 
#include <riegl/scanifc.h>
 
 
 
#include "lvr2/io/PointBuffer.hpp"
#include "lvr2/io/Model.hpp"
#include "lvr2/io/RxpIO.hpp"
#include "lvr2/geometry/BaseVector.hpp"
 
namespace lvr2
{
 
 
ModelPtr RxpIO::read(std::string filename)
{
    return read(filename, 1, Transformd::Identity());
}
 
ModelPtr RxpIO::read(std::string filename, int reduction_factor, const Transformd& tf)
{
    if (reduction_factor < 1)
    {
        reduction_factor = 1;
    }
 
    // open file
    point3dstream_handle stream;
    if (check_error(scanifc_point3dstream_open(("file:" + filename).c_str(), 0, &stream)))
    {
        return ModelPtr();
    }
 
    std::vector<BaseVector<float> > data;
    BaseVector<float> cur_point;
 
    const unsigned int point_buf_size = 32768;
    scanifc_xyz32_t point_buf[point_buf_size];
    int end_of_frame = 0;
    unsigned int got = 0;
    int count = 0;
    
 
    // read data
    do
    {
 
        if (check_error(scanifc_point3dstream_read(stream, point_buf_size, point_buf, 0, 0, &got, &end_of_frame)))
        {
            return ModelPtr();
        }
 
        // use points here
        for (int i = 0; i < got; i++)
        {
            if (count++ % reduction_factor == 0)
            {
                cur_point.x = point_buf[i].x;
                cur_point.y = point_buf[i].y;
                cur_point.z = point_buf[i].z;
 
                data.push_back(tf * cur_point);
            }
        }
 
    } while(end_of_frame || got);
 
 
    // TODO check this for null?
    float *data2 = new float[data.size() * 3];
    assert(data2 != nullptr);
 
    // TODO Since we don't know the size in advance there is no better way?
    for (int i = 0; i < data.size(); i++)
    {
        data2[i*3 + 0] = data[i].x;
        data2[i*3 + 1] = data[i].y;
        data2[i*3 + 2] = data[i].z;
    }
 
    PointBufferPtr pbp(new PointBuffer());
    pbp->setPointArray(floatArr(data2), data.size());
 
    // close file
    if (check_error(scanifc_point3dstream_close(stream)))
    {
        // if we get an error while closing the file we shouldn't do anything
    }
 
    return ModelPtr(new Model(MeshBufferPtr(), pbp));
}
 
void RxpIO::save(std::string filename)
{
    std::cout << "[RxpIO] Error: Saving files to .rxp format is not supported" << std::endl;
}
 
bool RxpIO::check_error(int error_code)
{
    if (error_code)
    {
        // TODO check if string is zero delimited IF msg_size > (>=) msg_buf_size!
        unsigned int msg_buf_size = 2048;
        char msg_buf[msg_buf_size];
        unsigned int msg_size = 0;
 
        scanifc_get_last_error(msg_buf, msg_buf_size, &msg_size);
 
        std::cout << "[RxpIO] Error: " << msg_buf << std::endl;
 
        return true;
    }
    else
    {
        return false;
    }
}
 
} // namespace lvr2