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