Namespaces
namespace	speckle

Classes
struct	E57ScanExport
	A single scan position to write into an E57 file. More...
struct	ExportScene
	Intermediate representation for exporting all project data. More...

Functions
void	import_e57 (ProjectDB &db, const std::filesystem::path &e57_path)
	Import point cloud data from an E57 file into a ProjectDB.
void	export_e57 (const std::filesystem::path &path, const std::vector< E57ScanExport > &scans)
	Export one or more XYZRGB clouds as separate scan positions in an E57 file.
double	read_exif_timestamp (const std::filesystem::path &jpeg_path)
	Read EXIF DateTimeOriginal from a JPEG file.
ExportScene	gather_export_scene (const ProjectDB &db)
	Gather all exportable data from a ProjectDB.
void	import_ply (ProjectDB &db, const std::filesystem::path &ply_path)
	Import a point cloud from a PLY file into a ProjectDB.
void	export_ply (const std::filesystem::path &path, const Cloud &cloud, const CloudN *normals=nullptr)
	Export a point cloud to a binary PLY file.
auto	getPlanes (CloudLConstPtr planes, CloudNConstPtr normals, CloudLocConstPtr locations) -> std::tuple< EigenVectorContainer< double, 4 >, EigenVectorContainer< double, 3 >, std::vector< IndicesPtr > >
	Extract plane data from labeled point clouds.
bool	save (std::filesystem::path const &output_path, std::vector< pcl::ModelCoefficients > const &model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > const &centroids, std::vector< std::shared_ptr< pcl::Indices > > const &inlier_indices)
	Save plane data to file.
bool	read (std::filesystem::path const &input_path, std::vector< pcl::ModelCoefficients > &model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< std::shared_ptr< pcl::Indices > > &inlier_indices)
	Read plane data from file.
auto	configure_rhino_model () -> std::unique_ptr< ONX_Model >
	Create a configured ONX_Model with ReUseX metadata, units, and tolerances.
auto	export_to_rhino (const ExportScene &scene) -> std::unique_ptr< ONX_Model >
	Export a full ExportScene to a Rhino ONX_Model with layer hierarchy.
auto	make_rhino_pointcloud (CloudConstPtr cloud) -> std::unique_ptr< ON_PointCloud >
	Convert a PCL XYZRGB point cloud to an ON_PointCloud.
auto	make_rhino_pointcloud (CloudConstPtr cloud, CloudNConstPtr normals) -> std::unique_ptr< ON_PointCloud >
	Convert a PCL XYZRGB point cloud with normals to an ON_PointCloud.
auto	make_rhino_mesh (const pcl::PolygonMesh &mesh) -> std::unique_ptr< ON_Mesh >
	Convert a PCL PolygonMesh to an ON_Mesh.
auto	make_sphere_mesh (double cx, double cy, double cz, double radius, int resolution=16) -> std::unique_ptr< ON_Mesh >
	Create a UV sphere mesh.
void	import_rtabmap (ProjectDB &db, const std::filesystem::path &rtabmap_db_path)
	Import raw sensor data from an RTABMap database into a ProjectDB.

Function Documentation

◆ configure_rhino_model()

auto reusex::io::configure_rhino_model ( ) -> std::unique_ptr< ONX_Model >

Create a configured ONX_Model with ReUseX metadata, units, and tolerances.

◆ export_e57()

void reusex::io::export_e57	(	const std::filesystem::path &	path,
		const std::vector< E57ScanExport > &	scans )

Export one or more XYZRGB clouds as separate scan positions in an E57 file.

Each entry in scans becomes one Data3D block. RGB color is always written. Normals are written using the E57_EXT_surface_normals extension when provided.

Parameters

path	Output .e57 file path (created or overwritten).
scans	One or more scans to embed in the file.

◆ export_ply()

void reusex::io::export_ply	(	const std::filesystem::path &	path,
		const Cloud &	cloud,
		const CloudN *	normals = nullptr )

Export a point cloud to a binary PLY file.

When normals is provided it must have the same number of points as cloud; both are written as a single PLY element with merged fields (x, y, z, rgb, normal_x, normal_y, normal_z).

Parameters

path	Output .ply file path (created or overwritten).
cloud	XYZRGB point cloud to export.
normals	Surface normals to merge into the output (nullptr = skip).

◆ export_to_rhino()

auto reusex::io::export_to_rhino ( const ExportScene & scene ) -> std::unique_ptr< ONX_Model >

Export a full ExportScene to a Rhino ONX_Model with layer hierarchy.

◆ gather_export_scene()

ExportScene reusex::io::gather_export_scene ( const ProjectDB & db )

Gather all exportable data from a ProjectDB.

Only populates layers that have data.

◆ getPlanes()

auto reusex::io::getPlanes	(	CloudLConstPtr	planes,
		CloudNConstPtr	normals,
		CloudLocConstPtr	locations ) -> std::tuple< EigenVectorContainer< double, 4 >, EigenVectorContainer< double, 3 >, std::vector< IndicesPtr > >

Extract plane data from labeled point clouds.

Parameters

planes	Labeled point cloud where labels indicate plane IDs.
normals	Point cloud containing plane normals.
locations	Point cloud containing plane centroid locations.

Returns: Tuple of (plane coefficients, centroids, inlier indices).

◆ import_e57()

void reusex::io::import_e57	(	ProjectDB &	db,
		const std::filesystem::path &	e57_path )

Import point cloud data from an E57 file into a ProjectDB.

Each scan in the E57 file is stored as a separate named XYZRGB point cloud. Color, normals, and intensity data are extracted when available. If color is absent but intensity is present, intensity is mapped to grayscale RGB. Normals are stored as a separate cloud with a "_normals" suffix.

Cloud naming: uses the scan name from the E57 header when set, otherwise "{file_stem}_scan_{N}".

Parameters

db	Target project database (must be open in write mode).
e57_path	Path to the source .e57 file.

◆ import_ply()

void reusex::io::import_ply	(	ProjectDB &	db,
		const std::filesystem::path &	ply_path )

Import a point cloud from a PLY file into a ProjectDB.

Detects available fields and extracts all data present:

XYZ position (required)
RGB color → stored as XYZRGB cloud named after the file stem
Normals (normal_x/y/z or nx/ny/nz) → stored as a separate cloud with a "_normals" suffix
Semantic labels → stored as a separate cloud with a "_labels" suffix
Intensity without color → mapped to grayscale RGB

Parameters

db	Target project database (must be open in write mode).
ply_path	Path to the source .ply file.

◆ import_rtabmap()

void reusex::io::import_rtabmap	(	ProjectDB &	db,
		const std::filesystem::path &	rtabmap_db_path )

Import raw sensor data from an RTABMap database into a ProjectDB.

For each node the function extracts color, depth, confidence, the optimized world pose, and camera intrinsics in their original RTABMap format and stores everything in the project database. Images are stored in their native orientation without rotation.

No heavy processing (voxelization, normal estimation, etc.) is performed. Point cloud generation is handled separately by reusex::geometry::reconstruct_point_clouds().

Parameters

db	Target project database (must be open in write mode).
rtabmap_db_path	Path to the source RTABMap .db file.

◆ make_rhino_mesh()

auto reusex::io::make_rhino_mesh ( const pcl::PolygonMesh & mesh ) -> std::unique_ptr< ON_Mesh >

Convert a PCL PolygonMesh to an ON_Mesh.

◆ make_rhino_pointcloud() [1/2]

auto reusex::io::make_rhino_pointcloud ( CloudConstPtr cloud ) -> std::unique_ptr< ON_PointCloud >

Convert a PCL XYZRGB point cloud to an ON_PointCloud.

◆ make_rhino_pointcloud() [2/2]

auto reusex::io::make_rhino_pointcloud	(	CloudConstPtr	cloud,
		CloudNConstPtr	normals ) -> std::unique_ptr< ON_PointCloud >

Convert a PCL XYZRGB point cloud with normals to an ON_PointCloud.

◆ make_sphere_mesh()

auto reusex::io::make_sphere_mesh	(	double	cx,
		double	cy,
		double	cz,
		double	radius,
		int	resolution = 16 ) -> std::unique_ptr< ON_Mesh >

Create a UV sphere mesh.

◆ read()

bool reusex::io::read	(	std::filesystem::path const &	input_path,
		std::vector< pcl::ModelCoefficients > &	model_coefficients,
		std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &	centroids,
		std::vector< std::shared_ptr< pcl::Indices > > &	inlier_indices )

nodiscard

Read plane data from file.

Parameters

input_path	Path to input file.
model_coefficients	Output plane model coefficients.
centroids	Output plane centroids.
inlier_indices	Output indices of points belonging to each plane.

Returns: True if read was successful, false otherwise.

◆ read_exif_timestamp()

double reusex::io::read_exif_timestamp ( const std::filesystem::path & jpeg_path )

Read EXIF DateTimeOriginal from a JPEG file.

Returns epoch seconds (double), or -1.0 if not available.

◆ save()

bool reusex::io::save	(	std::filesystem::path const &	output_path,
		std::vector< pcl::ModelCoefficients > const &	model_coefficients,
		std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > const &	centroids,
		std::vector< std::shared_ptr< pcl::Indices > > const &	inlier_indices )

nodiscard

Save plane data to file.

Parameters

output_path	Path to output file.
model_coefficients	Plane model coefficients.
centroids	Plane centroids.
inlier_indices	Indices of points belonging to each plane.

Returns: True if save was successful, false otherwise.

Namespaces

Classes

Functions

Function Documentation

◆ configure_rhino_model()

◆ export_e57()

◆ export_ply()

◆ export_to_rhino()

◆ gather_export_scene()

◆ getPlanes()

◆ import_e57()

◆ import_ply()

◆ import_rtabmap()

◆ make_rhino_mesh()

◆ make_rhino_pointcloud() [1/2]

◆ make_rhino_pointcloud() [2/2]

◆ make_sphere_mesh()

◆ read()

◆ read_exif_timestamp()

◆ save()