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Merged
merged 4 commits into from
Jul 25, 2023
Merged

GSoC: Modified PLY reader to support color attribute read/write #23805

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365f83f
Modified PLY reader to support color attribute read/write
starga2er777 Jun 15, 2023
02d01a5
Fix bugs & Modified OBJ reader for color IO
starga2er777 Jul 14, 2023
c946a80
Replace with correct test file
starga2er777 Jul 14, 2023
d26b123
Fix I/O of property [w] in OBJ files
starga2er777 Jul 21, 2023
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6 changes: 4 additions & 2 deletions modules/3d/include/opencv2/3d.hpp
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Expand Up @@ -2636,8 +2636,9 @@ class CV_EXPORTS Octree {
* @param filename Name of the file.
* @param vertices (vector of Point3f) Point coordinates of a point cloud
* @param normals (vector of Point3f) Point normals of a point cloud
* @param rgb (vector of Point3_<uchar>) Point RGB color of a point cloud
*/
CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray());
CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray(), OutputArray rgb = noArray());

/** @brief Saves a point cloud to a specified file.
*
Expand All @@ -2647,8 +2648,9 @@ CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, O
* @param filename Name of the file.
* @param vertices (vector of Point3f) Point coordinates of a point cloud
* @param normals (vector of Point3f) Point normals of a point cloud
* @param rgb (vector of Point3_<uchar>) Point RGB color of a point cloud
*/
CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray());
CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray(), InputArray rgb = noArray());

/** @brief Loads a mesh from a file.
*
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8 changes: 4 additions & 4 deletions modules/3d/src/pointcloud/io_base.cpp
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Expand Up @@ -12,21 +12,21 @@ void BasePointCloudDecoder::setSource(const std::string &filename) noexcept
m_filename = filename;
}

void BasePointCloudDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals)
void BasePointCloudDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb)
{
std::vector<std::vector<int32_t>> indices;
readData(points, normals, indices);
readData(points, normals, rgb, indices);
}

void BasePointCloudEncoder::setDestination(const std::string &filename) noexcept
{
m_filename = filename;
}

void BasePointCloudEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals)
void BasePointCloudEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb)
{
std::vector<std::vector<int32_t>> indices;
writeData(points, normals, indices);
writeData(points, normals, rgb, indices);
}

} /* namespace cv */
8 changes: 4 additions & 4 deletions modules/3d/src/pointcloud/io_base.hpp
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Expand Up @@ -25,8 +25,8 @@ class BasePointCloudDecoder
virtual ~BasePointCloudDecoder() = default;

virtual void setSource(const String &filename) noexcept;
virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals);
virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) = 0;
virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb);
virtual void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) = 0;

protected:
String m_filename;
Expand All @@ -39,8 +39,8 @@ class BasePointCloudEncoder
virtual ~BasePointCloudEncoder() = default;

virtual void setDestination(const String &filename) noexcept;
virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals);
virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) = 0;
virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb);
virtual void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) = 0;

protected:
String m_filename;
Expand Down
6 changes: 4 additions & 2 deletions modules/3d/src/pointcloud/io_obj.cpp
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Expand Up @@ -12,10 +12,11 @@ namespace cv {

std::unordered_set<std::string> ObjDecoder::m_unsupportedKeys;

void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices)
void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices)
{
points.clear();
normals.clear();
CV_UNUSED(rgb);
indices.clear();

std::ifstream file(m_filename, std::ios::binary);
Expand Down Expand Up @@ -75,9 +76,10 @@ void ObjDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &no
file.close();
}

void ObjEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices)
void ObjEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices)
{
std::ofstream file(m_filename, std::ios::binary);
CV_UNUSED(rgb);
if (!file) {
CV_LOG_ERROR(NULL, "Impossible to open the file: " << m_filename);
return;
Expand Down
4 changes: 2 additions & 2 deletions modules/3d/src/pointcloud/io_obj.hpp
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Expand Up @@ -13,7 +13,7 @@ namespace cv {
class ObjDecoder CV_FINAL : public BasePointCloudDecoder
{
public:
void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;

protected:
static std::unordered_set<std::string> m_unsupportedKeys;
Expand All @@ -22,7 +22,7 @@ class ObjDecoder CV_FINAL : public BasePointCloudDecoder
class ObjEncoder CV_FINAL : public BasePointCloudEncoder
{
public:
void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;

};

Expand Down
39 changes: 25 additions & 14 deletions modules/3d/src/pointcloud/io_ply.cpp
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Expand Up @@ -11,16 +11,17 @@

namespace cv {

void PlyDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices)
void PlyDecoder::readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices)
{
points.clear();
normals.clear();
rgb.clear();
CV_UNUSED(indices);

std::ifstream file(m_filename, std::ios::binary);
if (parseHeader(file))
{
parseBody(file, points, normals);
parseBody(file, points, normals, rgb);
}
}

Expand Down Expand Up @@ -83,7 +84,7 @@ bool PlyDecoder::parseHeader(std::ifstream &file)
auto splitArrElem = split(s, ' ');
if (splitArrElem[2] == "x" || splitArrElem[2] == "red" || splitArrElem[2] == "nx")
{
if (splitArrElem[1] != "float") {
if (splitArrElem[1] != "float" && splitArrElem[1] != "uchar") {
CV_LOG_ERROR(NULL, "Provided PLY file format '" << splitArrElem[1] << "' is not supported");
return false;
}
Expand Down Expand Up @@ -130,7 +131,7 @@ T readNext(std::ifstream &file, DataFormat format)
return val;
}

void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals)
void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb)
{
points.reserve(m_vertexCount);
if (m_hasNormal)
Expand All @@ -146,9 +147,11 @@ void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, st
points.push_back(vertex);
if (m_hasColour)
{
readNext<float>(file, m_inputDataFormat);
readNext<float>(file, m_inputDataFormat);
readNext<float>(file, m_inputDataFormat);
Point3_<uchar> colour;
colour.x = readNext<int>(file, m_inputDataFormat) & 0xff;
colour.y = readNext<int>(file, m_inputDataFormat) & 0xff;
colour.z = readNext<int>(file, m_inputDataFormat) & 0xff;
rgb.push_back(colour);
}
if (m_hasNormal)
{
Expand All @@ -161,14 +164,15 @@ void PlyDecoder::parseBody(std::ifstream &file, std::vector<Point3f> &points, st
}
}

void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices)
void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices)
{
CV_UNUSED(indices);
std::ofstream file(m_filename, std::ios::binary);
if (!file) {
CV_LOG_ERROR(NULL, "Impossible to open the file: " << m_filename);
return;
}
bool hasNormals = !normals.empty(), hasColor = !rgb.empty();

file << "ply" << std::endl;
file << "format ascii 1.0" << std::endl;
Expand All @@ -179,23 +183,30 @@ void PlyEncoder::writeData(const std::vector<Point3f> &points, const std::vector
file << "property float y" << std::endl;
file << "property float z" << std::endl;

file << "end_header" << std::endl;
if(hasColor) {
file << "property uchar red" << std::endl;
file << "property uchar green" << std::endl;
file << "property uchar blue" << std::endl;
}

if (normals.size() != 0)
if (hasNormals)
{
file << "property float nx" << std::endl;
file << "property float ny" << std::endl;
file << "property float nz" << std::endl;
}

bool isNormals = (normals.size() != 0);
file << "end_header" << std::endl;


for (size_t i = 0; i < points.size(); i++)
{
file << points[i].x << " " << points[i].y << " " << points[i].z;
if (isNormals)
{
file << normals[i].x << " " << normals[i].y << " " << normals[i].z;
if (hasColor) {
file << " " << static_cast<int>(rgb[i].x) << " " << static_cast<int>(rgb[i].y) << " " << static_cast<int>(rgb[i].z);
}
if (hasNormals) {
file << " " << normals[i].x << " " << normals[i].y << " " << normals[i].z;
}
file << std::endl;
}
Expand Down
6 changes: 3 additions & 3 deletions modules/3d/src/pointcloud/io_ply.hpp
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Expand Up @@ -21,11 +21,11 @@ enum class DataFormat
class PlyDecoder CV_FINAL : public BasePointCloudDecoder
{
public:
void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
void readData(std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb, std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;

protected:
bool parseHeader(std::ifstream &file);
void parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals);
void parseBody(std::ifstream &file, std::vector<Point3f> &points, std::vector<Point3f> &normals, std::vector<Point3_<uchar>> &rgb);

DataFormat m_inputDataFormat;
size_t m_vertexCount{0};
Expand All @@ -36,7 +36,7 @@ class PlyDecoder CV_FINAL : public BasePointCloudDecoder
class PlyEncoder CV_FINAL : public BasePointCloudEncoder
{
public:
void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;
void writeData(const std::vector<Point3f> &points, const std::vector<Point3f> &normals, const std::vector<Point3_<uchar>> &rgb, const std::vector<std::vector<int32_t>> &indices) CV_OVERRIDE;

};

Expand Down
24 changes: 18 additions & 6 deletions modules/3d/src/pointcloud/load_point_cloud.cpp
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Expand Up @@ -49,7 +49,7 @@ static PointCloudEncoder findEncoder(const String &filename)

#endif

void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals)
void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals, OutputArray rgb)
{
#if OPENCV_HAVE_FILESYSTEM_SUPPORT
auto decoder = findDecoder(filename);
Expand All @@ -63,14 +63,19 @@ void loadPointCloud(const String &filename, OutputArray vertices, OutputArray no

std::vector<Point3f> vec_vertices;
std::vector<Point3f> vec_normals;
std::vector<Point3_<uchar>> vec_rgb;

decoder->readData(vec_vertices, vec_normals);
decoder->readData(vec_vertices, vec_normals, vec_rgb);

if (!vec_vertices.empty())
Mat(static_cast<int>(vec_vertices.size()), 1, CV_32FC3, &vec_vertices[0]).copyTo(vertices);

if (!vec_normals.empty() && normals.needed())
Mat(static_cast<int>(vec_normals.size()), 1, CV_32FC3, &vec_normals[0]).copyTo(normals);

if (!vec_rgb.empty() && rgb.needed())
Mat(static_cast<int>(vec_rgb.size()), 1, CV_8UC3, &vec_rgb[0]).copyTo(rgb);

#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
CV_UNUSED(filename);
CV_UNUSED(vertices);
Expand All @@ -79,7 +84,7 @@ void loadPointCloud(const String &filename, OutputArray vertices, OutputArray no
#endif
}

void savePointCloud(const String &filename, InputArray vertices, InputArray normals)
void savePointCloud(const String &filename, InputArray vertices, InputArray normals, InputArray rgb)
{
#if OPENCV_HAVE_FILESYSTEM_SUPPORT
if (vertices.empty()) {
Expand All @@ -98,11 +103,16 @@ void savePointCloud(const String &filename, InputArray vertices, InputArray norm

std::vector<Point3f> vec_vertices(vertices.getMat());
std::vector<Point3f> vec_normals;
std::vector<Point3_<uchar>> vec_rgb;

if (!normals.empty()){
vec_normals = normals.getMat();
}

encoder->writeData(vec_vertices, vec_normals);
if (!rgb.empty()){
vec_rgb = rgb.getMat();
}
encoder->writeData(vec_vertices, vec_normals, vec_rgb);

#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
CV_UNUSED(filename);
Expand All @@ -126,9 +136,10 @@ void loadMesh(const String &filename, OutputArray vertices, OutputArray normals,

std::vector<Point3f> vec_vertices;
std::vector<Point3f> vec_normals;
std::vector<Point3_<uchar>> vec_rgb;
std::vector<std::vector<int32_t>> vec_indices;

decoder->readData(vec_vertices, vec_normals, vec_indices);
decoder->readData(vec_vertices, vec_normals, vec_rgb, vec_indices);

if (!vec_vertices.empty()) {
Mat(1, static_cast<int>(vec_vertices.size()), CV_32FC3, vec_vertices.data()).copyTo(vertices);
Expand Down Expand Up @@ -173,6 +184,7 @@ void saveMesh(const String &filename, InputArray vertices, InputArray normals, I

std::vector<Point3f> vec_vertices(vertices.getMat());
std::vector<Point3f> vec_normals;
std::vector<Point3_<uchar>> vec_rgb;
if (!normals.empty()){
vec_normals = normals.getMat();
}
Expand All @@ -185,7 +197,7 @@ void saveMesh(const String &filename, InputArray vertices, InputArray normals, I
mat_indices[i].copyTo(vec_indices[i]);
}

encoder->writeData(vec_vertices, vec_normals, vec_indices);
encoder->writeData(vec_vertices, vec_normals, vec_rgb, vec_indices);

#else // OPENCV_HAVE_FILESYSTEM_SUPPORT
CV_UNUSED(filename);
Expand Down
5 changes: 4 additions & 1 deletion modules/3d/test/test_pointcloud.cpp
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Expand Up @@ -87,6 +87,7 @@ TEST(PointCloud, LoadSavePly)
{
std::vector<cv::Point3f> points;
std::vector<cv::Point3f> normals;
std::vector<cv::Point3_<uchar>> rgb;

auto folder = cvtest::TS::ptr()->get_data_path();
std::string new_path = tempfile("new.ply");
Expand All @@ -96,11 +97,13 @@ TEST(PointCloud, LoadSavePly)

std::vector<cv::Point3f> points_gold;
std::vector<cv::Point3f> normals_gold;
std::vector<cv::Point3_<uchar>> rgb_gold;

cv::loadPointCloud(new_path, points_gold, normals_gold);
cv::loadPointCloud(new_path, points_gold, normals_gold, rgb_gold);

EXPECT_EQ(normals_gold, normals);
EXPECT_EQ(points_gold, points);
EXPECT_EQ(rgb_gold, rgb);
std::remove(new_path.c_str());
}

Expand Down