PLY_import_export.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef PLY_IMPORT_EXPORT_H
#define PLY_IMPORT_EXPORT_H

#include <mrpt/utils/core_defs.h>
#include <mrpt/utils/CStringList.h>
#include <mrpt/utils/TColor.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt
{
namespace utils
{
/** A virtual base class that implements the capability of importing 3D point
 * clouds and faces from a file in the Stanford PLY format.
  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
  * \sa PLY_Exporter
 * \ingroup mrpt_base_grp
  */
class PLY_Importer
{
   public:
        /** Loads from a PLY file.
          * \param[in]  filename The filename to open. It can be either in binary or
         * text format.
          * \param[out] file_comments If provided (!=nullptr) the list of comment
         * strings stored in the file will be returned.
          * \param[out] file_obj_info If provided (!=nullptr) the list of "object
         * info" strings stored in the file will be returned.
          * \return false on any error in the file format or reading it. To obtain
         * more details on the error you can call getLoadPLYErrorString()
          */
        bool loadFromPlyFile(
                const std::string& filename, CStringList* file_comments = nullptr,
                CStringList* file_obj_info = nullptr);

        /** Return a description of the error if loadFromPlyFile() returned false,
         * or an empty string if the file was loaded without problems. */
        std::string getLoadPLYErrorString() const
        {
                return m_ply_import_last_error;
        }

   protected:
        /** @name PLY Import virtual methods to implement in base classes
                @{ */

        /** In a base class, reserve memory to prepare subsequent calls to
         * PLY_import_set_vertex */
        virtual void PLY_import_set_vertex_count(const size_t N) = 0;

        /** In a base class, reserve memory to prepare subsequent calls to
         * PLY_import_set_face */
        virtual void PLY_import_set_face_count(const size_t N) = 0;

        /** In a base class, will be called after PLY_import_set_vertex_count() once
         * for each loaded point.
          *  \param pt_color Will be nullptr if the loaded file does not provide
         * color info.
          */
        virtual void PLY_import_set_vertex(
                const size_t idx, const mrpt::math::TPoint3Df& pt,
                const mrpt::utils::TColorf* pt_color = nullptr) = 0;

        /** @} */

   private:
        std::string m_ply_import_last_error;

};  // End of class def.

/** A virtual base class that implements the capability of exporting 3D point
 * clouds and faces to a file in the Stanford PLY format.
  * \sa http://www.mrpt.org/Support_for_the_Stanford_3D_models_file_format_PLY
  * \sa PLY_Importer
 * \ingroup mrpt_base_grp
  */
class PLY_Exporter
{
   public:
        /** Saves to a PLY file.
          * \param[in]  filename The filename to be saved.
          * \param[in] file_comments If provided (!=nullptr) the list of comment
         * strings stored in the file will be returned.
          * \param[in] file_obj_info If provided (!=nullptr) the list of "object
         * info" strings stored in the file will be returned.
          * \return false on any error writing the file. To obtain more details on
         * the error you can call getSavePLYErrorString()
          */
        bool saveToPlyFile(
                const std::string& filename, bool save_in_binary = false,
                const CStringList& file_comments = CStringList(),
                const CStringList& file_obj_info = CStringList()) const;

        /** Return a description of the error if loadFromPlyFile() returned false,
         * or an empty string if the file was loaded without problems. */
        std::string getSavePLYErrorString() const
        {
                return m_ply_export_last_error;
        }

   protected:
        /** @name PLY Export virtual methods to implement in base classes
                @{ */

        /** In a base class, return the number of vertices */
        virtual size_t PLY_export_get_vertex_count() const = 0;

        /** In a base class, return the number of faces */
        virtual size_t PLY_export_get_face_count() const = 0;

        /** In a base class, will be called after PLY_export_get_vertex_count() once
         * for each exported point.
          *  \param pt_color Will be nullptr if the loaded file does not provide
         * color info.
          */
        virtual void PLY_export_get_vertex(
                const size_t idx, mrpt::math::TPoint3Df& pt, bool& pt_has_color,
                mrpt::utils::TColorf& pt_color) const = 0;

        /** @} */

   private:
        mutable std::string m_ply_export_last_error;

};  // End of class def.

}  // End of namespace
}  // end of namespace
#endif