converter-ply.hpp

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2018 Intel Corporation. All Rights Reserved.
 
#ifndef __RS_CONVERTER_CONVERTER_PLY_H
#define __RS_CONVERTER_CONVERTER_PLY_H
 
 
#include "../converter.hpp"
 
 
namespace rs2 {
    namespace tools {
        namespace converter {
 
            class converter_ply : public converter_base {
            protected:
                std::string _filePath;
 
            public:
                converter_ply(const std::string& filePath)
                    : _filePath(filePath)
                {
                }
 
                std::string name() const override
                {
                    return "PLY converter";
                }
 
                void convert(rs2::frame& frame) override
                {
                    rs2::pointcloud pc;
                    start_worker(
                        [this, &frame, pc]() mutable {
                            auto frameset = frame.as<rs2::frameset>();
                            auto frameDepth = frameset.get_depth_frame();
                            auto frameColor = frameset.get_color_frame();
 
                            if (frameDepth && frameColor) {
                                if (frames_map_get_and_set(rs2_stream::RS2_STREAM_ANY, frameDepth.get_frame_number())) {
                                    return;
                                }
 
                                pc.map_to(frameColor);
 
                                auto points = pc.calculate(frameDepth);
 
                                std::stringstream filename;
                                filename << _filePath
                                    << "_" << std::setprecision(14) << std::fixed << frameDepth.get_timestamp()
                                    << ".ply";
 
                                points.export_to_ply(filename.str(), frameColor);
 
                                std::stringstream metadata_file;
                                metadata_file << _filePath
                                    << "_metadata_" << std::setprecision(14) << std::fixed << frameDepth.get_timestamp()
                                    << ".txt";
 
                                metadata_to_txtfile(frameDepth, metadata_file.str());
                            }
                    });
                }
            };
 
        }
    }
}
 
 
#endif