% Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
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% modification, are permitted provided that the following conditions are met:
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%     * Redistributions of source code must retain the above copyright
%       notice, this list of conditions and the following disclaimer.
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%       documentation and/or other materials provided with the distribution.
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%       its contributors may be used to endorse or promote products derived
%       from this software without specific prior written permission.
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% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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% Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)

function [xyz, normals, rgb] = read_ply(path)
% Read point cloud from PLY text file.

file = fopen(path, 'r');
type = fscanf(file, '%s', 1);
format = fscanf(file, '%s', 3);
data = fscanf(file, '%s', 2);
num_points = fscanf(file, '%d', 1);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 3);
fscanf(file, '%s', 1);
points_data = textscan(file, '%f %f %f %f %f %f %f %f %f', num_points);
xyz = [points_data{1}, points_data{2}, points_data{3}];
rgb = [points_data{7}, points_data{8}, points_data{9}];
normals = [points_data{4}, points_data{5}, points_data{6}];

end
