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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef MODEL_LOADER_H_
#define MODEL_LOADER_H_
#include <vector>
#include <string>
#include <ply.h>
using namespace std;
namespace household_objects_database {
typedef struct Vertex {
float x,y,z;
float nx,ny,nz;
void *other_props; /* other properties */
} Vertex;
typedef struct Face {
unsigned char nverts; /* number of vertex indices in list */
int *verts; /* vertex index list */
void *other_props; /* other properties */
} Face;
class PLYModelLoader
{
public:
/**
* \brief Reads a mesh from a .ply file
*
* @param filename
* @param mesh
*/
int readFromFile(const string& filename, std::vector<double> &vertices,
std::vector<int> &triangles);
private:
void endian_swap(void* p);
PlyFile *in_ply;
int nverts,nfaces;
Vertex vertex;
Face face;
PlyOtherProp *vert_other,*face_other;
};
}
#endif /* MODEL_LOADER_H_ */