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56 lines
2.3 KiB
56 lines
2.3 KiB
% Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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% All rights reserved.
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%
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% Redistribution and use in source and binary forms, with or without
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% modification, are permitted provided that the following conditions are met:
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%
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% * Redistributions of source code must retain the above copyright
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% notice, this list of conditions and the following disclaimer.
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%
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% * Redistributions in binary form must reproduce the above copyright
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% notice, this list of conditions and the following disclaimer in the
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% documentation and/or other materials provided with the distribution.
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%
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% * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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% its contributors may be used to endorse or promote products derived
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% from this software without specific prior written permission.
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%
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% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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% POSSIBILITY OF SUCH DAMAGE.
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%
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% Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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function [xyz, normals, rgb] = read_ply(path)
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% Read point cloud from PLY text file.
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file = fopen(path, 'r');
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type = fscanf(file, '%s', 1);
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format = fscanf(file, '%s', 3);
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data = fscanf(file, '%s', 2);
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num_points = fscanf(file, '%d', 1);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 3);
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fscanf(file, '%s', 1);
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points_data = textscan(file, '%f %f %f %f %f %f %f %f %f', num_points);
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xyz = [points_data{1}, points_data{2}, points_data{3}];
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rgb = [points_data{7}, points_data{8}, points_data{9}];
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normals = [points_data{4}, points_data{5}, points_data{6}];
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end
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