The Super4PCS library provides its own IO module, to load and save 3D point clouds, meshes and export computed matrices.
Overview
| Input | Output | |
|---|---|---|
| Point-cloud | ply, ptx | ply |
| Mesh | obj | obj |
| Transformation Matrix | txt | |
| Sampled clouds | ply |
Input/Output files are specified using the following flags:
-i file1 file2: two input files,-r filename: output file,-m filename: output matrix,--sampled1 filename: cloud sampled from input 1,--sampled2 filename: cloud sampled from input 2.
When neither -r nor -m are specified, the result is exported to output.obj/.ply.
Parsers specifications
Transformation matrices (2c92b29)
3D matrices are exported as text files, such as:
VERSION = 1 MATRIX = 0.952888 0.099464 -0.286551 0.045467 -0.096379 0.995034 0.024886 -0.372831 0.287603 0.003904 0.957742 -0.447515 0.000000 0.000000 0.000000 1.000000
These files can be loaded by Polyworks to transform geometry layers.
PTX (84d079e)
Cyclone pointcloud export format, available only to load range maps as point-clouds.
The scanner position and the cloud transformations are ignored, and only the first range map is considered.
PLY
The PoLYgon file format (.ply) is used to load/save point-clouds exclusively. Both ASCII and Binary encoding are supported, but ASCII encoding is in general preferred.
A limited set of property list is supported. Using other formats will not trigger any error, but will prevent the algorithm to find a solution.
In ASCII mode only, both float and double properties are supported (files generated by matlab).
The supported property lists are (any other property type will cause the program to run on wrong data!):
Position only
property float x property float y property float z
Position + Normals
property float x property float y property float z property float nx property float ny property float nz
Position + Colors (RGB)
property float x property float y property float z property uchar red property uchar green property uchar blue
Position + Colors (RGBA)
property float x property float y property float z property uchar red property uchar green property uchar blue property uchar alpha
Position + Normals + Colors (RGB)
property float x property float y property float z property float nx property float ny property float nz property uchar red property uchar green property uchar blue
Position + Normals + Colors (RGBA)
property float x property float y property float z property float nx property float ny property float nz property uchar red property uchar green property uchar blue property uchar alpha
OBJ
Wavefront OBJ files are used to load/save meshes. Faces lists are required, and textures are supported (per-vertex color fetched from the texture).
