root/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp

DEFINITIONS

1. readPLY

#include "CsvReader.h"

/** The default constructor of the CSV reader Class */
CsvReader::CsvReader(const string &path, const char &separator){
    _file.open(path.c_str(), ifstream::in);
    _separator = separator;
}

/* Read a plane text file with .ply format */
void CsvReader::readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list_triangles)
{
    std::string line, tmp_str, n;
    int num_vertex = 0, num_triangles = 0;
    int count = 0;
    bool end_header = false;
    bool end_vertex = false;

    // Read the whole *.ply file
    while (getline(_file, line)) {
    stringstream liness(line);

    // read header
    if(!end_header)
    {
        getline(liness, tmp_str, _separator);
        if( tmp_str == "element" )
        {
            getline(liness, tmp_str, _separator);
            getline(liness, n);
            if(tmp_str == "vertex") num_vertex = StringToInt(n);
            if(tmp_str == "face") num_triangles = StringToInt(n);
        }
        if(tmp_str == "end_header") end_header = true;
    }

    // read file content
    else if(end_header)
    {
         // read vertex and add into 'list_vertex'
         if(!end_vertex && count < num_vertex)
         {
             string x, y, z;
             getline(liness, x, _separator);
             getline(liness, y, _separator);
             getline(liness, z);

             cv::Point3f tmp_p;
             tmp_p.x = (float)StringToInt(x);
             tmp_p.y = (float)StringToInt(y);
             tmp_p.z = (float)StringToInt(z);
             list_vertex.push_back(tmp_p);

             count++;
             if(count == num_vertex)
             {
                 count = 0;
                 end_vertex = !end_vertex;
             }
         }
         // read faces and add into 'list_triangles'
         else if(end_vertex  && count < num_triangles)
         {
             string num_pts_per_face, id0, id1, id2;
             getline(liness, num_pts_per_face, _separator);
             getline(liness, id0, _separator);
             getline(liness, id1, _separator);
             getline(liness, id2);

             std::vector<int> tmp_triangle(3);
             tmp_triangle[0] = StringToInt(id0);
             tmp_triangle[1] = StringToInt(id1);
             tmp_triangle[2] = StringToInt(id2);
             list_triangles.push_back(tmp_triangle);

             count++;
      }
    }
  }
}