Binary PLY output in odm_georef, remove normals

cdapollo · May 25, 2018 · 997729f · 997729f
1 parent 5195187
commit 997729f
Showing 1 changed file with 14 additions and 11 deletions.
diff --git a/modules/odm_georef/src/Georef.cpp b/modules/odm_georef/src/Georef.cpp
@@ -1411,20 +1411,20 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
         file.parse_header(ss);
 
         std::shared_ptr<PlyData> vertices = file.request_properties_from_element("vertex", { "x", "y", "z" });
-        std::shared_ptr<PlyData> normals;
+        // std::shared_ptr<PlyData> normals;
         std::shared_ptr<PlyData> colors;
 
         // Not all point clouds have normals and colors
         // and different naming conventions apply
-        try{
-            normals = file.request_properties_from_element("vertex", { "nx", "ny", "nz" });
-        }catch(const std::exception &){}
+        // try{
+        //     normals = file.request_properties_from_element("vertex", { "nx", "ny", "nz" });
+        // }catch(const std::exception &){}
 
-        if (!normals){
-            try{
-                normals = file.request_properties_from_element("vertex", { "normal_x", "normal_y", "normal_z" });
-            }catch(const std::exception &){}
-        }
+        // if (!normals){
+        //     try{
+        //         normals = file.request_properties_from_element("vertex", { "normal_x", "normal_y", "normal_z" });
+        //     }catch(const std::exception &){}
+        // }
 
         try{
             colors = file.request_properties_from_element("vertex", { "diffuse_red", "diffuse_green", "diffuse_blue" });
@@ -1470,6 +1470,9 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
             verts[i].x = static_cast<Scalar> (transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
             verts[i].y = static_cast<Scalar> (transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
             verts[i].z = static_cast<Scalar> (transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
+
+            // TODO: normals can be computed using the inverse transpose
+            // https://paroj.github.io/gltut/Illumination/Tut09%20Normal%20Transformation.html
         }
 
         log_ << '\n';
@@ -1484,11 +1487,11 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
 
         PlyFile outFile;
         outFile.add_properties_to_element("vertex", { "x", "y", "z" }, Type::FLOAT64, verts.size() * 3, reinterpret_cast<uint8_t*>(verts.data()), Type::INVALID, 0);
-        if (normals) outFile.add_properties_to_element("vertex", { "nx", "ny", "nz" }, Type::FLOAT32, verts.size() * 3, reinterpret_cast<uint8_t*>(normals->buffer.get()), Type::INVALID, 0);
+        // if (normals) outFile.add_properties_to_element("vertex", { "nx", "ny", "nz" }, Type::FLOAT32, verts.size() * 3, reinterpret_cast<uint8_t*>(normals->buffer.get()), Type::INVALID, 0);
         if (colors) outFile.add_properties_to_element("vertex", { "red", "green", "blue" }, Type::UINT8, verts.size() * 3, reinterpret_cast<uint8_t*>(colors->buffer.get()), Type::INVALID, 0);
         outFile.get_comments().push_back("generated by OpenDroneMap");
 
-        outFile.write(outputStream, false);
+        outFile.write(outputStream, true);
 
         fb.close();