Point Cloud Library (PCL)  1.7.0
vtk_lib_io.h
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40 
41 #ifndef PCL_IO_VTK_LIB_IO_H_
42 #define PCL_IO_VTK_LIB_IO_H_
43 
44 #include <pcl/point_types.h>
45 #include <pcl/point_cloud.h>
46 #include <pcl/PolygonMesh.h>
47 #include <pcl/TextureMesh.h>
48 #include <pcl/pcl_macros.h>
49 #include <pcl/conversions.h>
50 #include <pcl/io/pcd_io.h>
51 #include <pcl/range_image/range_image_planar.h>
52 
53 // Ignore warnings in the above headers
54 #ifdef __GNUC__
55 #pragma GCC system_header
56 #endif
57 #include <vtkSmartPointer.h>
58 #include <vtkStructuredGrid.h>
59 #include <vtkPoints.h>
60 #include <vtkPointData.h>
61 #include <vtkCellArray.h>
62 #include <vtkUnsignedCharArray.h>
63 #include <vtkFloatArray.h>
64 #include <vtkPolyDataReader.h>
65 #include <vtkPolyDataWriter.h>
66 #include <vtkPLYReader.h>
67 #include <vtkPLYWriter.h>
68 #include <vtkOBJReader.h>
69 #include <vtkSTLReader.h>
70 #include <vtkSTLWriter.h>
71 #include <vtkPNGReader.h>
72 #include <vtkImageData.h>
73 #include <vtkPolyDataNormals.h>
74 
75 namespace pcl
76 {
77  namespace io
78  {
79  /** \brief Convert vtkPolyData object to a PCL PolygonMesh
80  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
81  * \param[out] mesh PCL Polygon Mesh to fill
82  * \return Number of points in the point cloud of mesh.
83  */
84  PCL_EXPORTS int
85  vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data,
86  pcl::PolygonMesh& mesh);
87 
88  /** \brief Convert vtkPolyData object to a PCL TextureMesh
89  * \note In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)
90  * method, it fills the mesh with the uv-coordinates.
91  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
92  * \param[out] mesh PCL TextureMesh to fill
93  * \return Number of points in the point cloud of mesh.
94  */
95  PCL_EXPORTS int
96  vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data,
97  pcl::TextureMesh& mesh);
98 
99 
100  /** \brief Convert a PCL PolygonMesh to a vtkPolyData object
101  * \param[in] mesh Reference to PCL Polygon Mesh
102  * \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
103  * \return Number of points in the point cloud of mesh.
104  */
105  PCL_EXPORTS int
106  mesh2vtk (const pcl::PolygonMesh& mesh,
107  vtkSmartPointer<vtkPolyData>& poly_data);
108 
109  /** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension
110  * \param[in] file_name the name of the file containing the polygon data
111  * \param[out] mesh the object that we want to load the data in
112  * \ingroup io
113  */
114  PCL_EXPORTS int
115  loadPolygonFile (const std::string &file_name,
116  pcl::PolygonMesh& mesh);
117 
118  /** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
119  * \param[in] file_name the name of the file to save the data to
120  * \param[in] mesh the object that contains the data
121  * \ingroup io
122  */
123  PCL_EXPORTS int
124  savePolygonFile (const std::string &file_name,
125  const pcl::PolygonMesh& mesh);
126 
127  /** \brief Load a VTK file into a \ref PolygonMesh object
128  * \param[in] file_name the name of the file that contains the data
129  * \param[out] mesh the object that we want to load the data in
130  * \ingroup io
131  */
132  PCL_EXPORTS int
133  loadPolygonFileVTK (const std::string &file_name,
134  pcl::PolygonMesh& mesh);
135 
136  /** \brief Load a PLY file into a \ref PolygonMesh object
137  * \param[in] file_name the name of the file that contains the data
138  * \param[out] mesh the object that we want to load the data in
139  * \ingroup io
140  */
141  PCL_EXPORTS int
142  loadPolygonFilePLY (const std::string &file_name,
143  pcl::PolygonMesh& mesh);
144 
145  /** \brief Load an OBJ file into a \ref PolygonMesh object
146  * \param[in] file_name the name of the file that contains the data
147  * \param[out] mesh the object that we want to load the data in
148  * \ingroup io
149  */
150  PCL_EXPORTS int
151  loadPolygonFileOBJ (const std::string &file_name,
152  pcl::PolygonMesh& mesh);
153 
154  /** \brief Load an OBJ file into a \ref TextureMesh object.
155  * \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
156  * method, this method also loads the uv-coordinates from the file. It does not
157  * load the material information.
158  * \param[in] file_name the name of the file that contains the data
159  * \param[out] mesh the object that we want to load the data in
160  * \ingroup io
161  */
162  PCL_EXPORTS int
163  loadPolygonFileOBJ (const std::string &file_name,
164  pcl::TextureMesh& mesh);
165 
166 
167  /** \brief Load an STL file into a \ref PolygonMesh object
168  * \param[in] file_name the name of the file that contains the data
169  * \param[out] mesh the object that we want to load the data in
170  * \ingroup io
171  */
172  PCL_EXPORTS int
173  loadPolygonFileSTL (const std::string &file_name,
174  pcl::PolygonMesh& mesh);
175 
176  /** \brief Save a \ref PolygonMesh object into a VTK file
177  * \param[in] file_name the name of the file to save the data to
178  * \param[in] mesh the object that contains the data
179  * \ingroup io
180  */
181  PCL_EXPORTS int
182  savePolygonFileVTK (const std::string &file_name,
183  const pcl::PolygonMesh& mesh);
184 
185  /** \brief Save a \ref PolygonMesh object into a PLY file
186  * \param[in] file_name the name of the file to save the data to
187  * \param[in] mesh the object that contains the data
188  * \ingroup io
189  */
190  PCL_EXPORTS int
191  savePolygonFilePLY (const std::string &file_name,
192  const pcl::PolygonMesh& mesh);
193 
194  /** \brief Save a \ref PolygonMesh object into an STL file
195  * \param[in] file_name the name of the file to save the data to
196  * \param[in] mesh the object that contains the data
197  * \ingroup io
198  */
199  PCL_EXPORTS int
200  savePolygonFileSTL (const std::string &file_name,
201  const pcl::PolygonMesh& mesh);
202 
203  /** \brief Write a \ref RangeImagePlanar object to a PNG file
204  * \param[in] file_name the name of the file to save the data to
205  * \param[in] range_image the object that contains the data
206  * \ingroup io
207  */
208  PCL_EXPORTS void
209  saveRangeImagePlanarFilePNG (const std::string &file_name,
210  const pcl::RangeImagePlanar& range_image);
211 
212  /** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
213  * \param[in] cloud the input pcl::PointCloud object
214  * \param[out] polydata the resultant VTK PolyData object
215  * \ingroup io
216  */
217  template <typename PointT> void
219  vtkPolyData* const polydata);
220 
221  /** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
222  * \param[in] cloud the input PCLPointCloud2Ptr object
223  * \param[out] poly_data the resultant VTK PolyData object
224  * \ingroup io
225  */
226  PCL_EXPORTS void
228 
229  /** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
230  * \param[in] cloud the input pcl::PointCloud object
231  * \param[out] structured_grid the resultant VTK StructuredGrid object
232  * \ingroup io
233  */
234  template <typename PointT> void
236  vtkStructuredGrid* const structured_grid);
237 
238  /** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
239  * \param[in] polydata the input VTK PolyData object
240  * \param[out] cloud the resultant pcl::PointCloud object
241  * \ingroup io
242  */
243  template <typename PointT> void
244  vtkPolyDataToPointCloud (vtkPolyData* const polydata,
245  pcl::PointCloud<PointT>& cloud);
246 
247  /** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
248  * \param[in] structured_grid the input VTK StructuredGrid object
249  * \param[out] cloud the resultant pcl::PointCloud object
250  * \ingroup io
251  */
252  template <typename PointT> void
253  vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid,
254  pcl::PointCloud<PointT>& cloud);
255 
256  }
257 }
258 
259 #include <pcl/io/impl/vtk_lib_io.hpp>
260 
261 #endif /* PLC_IO_VTK_LIB_IO_H_ */
PCL_EXPORTS int loadPolygonFile(const std::string &file_name, pcl::PolygonMesh &mesh)
Load a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS int loadPolygonFileSTL(const std::string &file_name, pcl::PolygonMesh &mesh)
Load an STL file into a PolygonMesh object.
void pointCloudTovtkPolyData(const pcl::PointCloud< PointT > &cloud, vtkPolyData *const polydata)
Convert a pcl::PointCloud object to a VTK PolyData one.
Definition: vtk_lib_io.hpp:280
PCL_EXPORTS void saveRangeImagePlanarFilePNG(const std::string &file_name, const pcl::RangeImagePlanar &range_image)
Write a RangeImagePlanar object to a PNG file.
PCL_EXPORTS int loadPolygonFilePLY(const std::string &file_name, pcl::PolygonMesh &mesh)
Load a PLY file into a PolygonMesh object.
PCL_EXPORTS int savePolygonFile(const std::string &file_name, const pcl::PolygonMesh &mesh)
Save a PolygonMesh object given an input file name, based on the file extension.
void vtkPolyDataToPointCloud(vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
Convert a VTK PolyData object to a pcl::PointCloud one.
Definition: vtk_lib_io.hpp:65
PCL_EXPORTS int loadPolygonFileVTK(const std::string &file_name, pcl::PolygonMesh &mesh)
Load a VTK file into a PolygonMesh object.
PCL_EXPORTS int savePolygonFileSTL(const std::string &file_name, const pcl::PolygonMesh &mesh)
Save a PolygonMesh object into an STL file.
PCL_EXPORTS int loadPolygonFileOBJ(const std::string &file_name, pcl::PolygonMesh &mesh)
Load an OBJ file into a PolygonMesh object.
PCL_EXPORTS int savePolygonFilePLY(const std::string &file_name, const pcl::PolygonMesh &mesh)
Save a PolygonMesh object into a PLY file.
boost::shared_ptr< ::pcl::PCLPointCloud2 > PCLPointCloud2Ptr
void vtkStructuredGridToPointCloud(vtkStructuredGrid *const structured_grid, pcl::PointCloud< PointT > &cloud)
Convert a VTK StructuredGrid object to a pcl::PointCloud one.
Definition: vtk_lib_io.hpp:154
PCL_EXPORTS int mesh2vtk(const pcl::PolygonMesh &mesh, vtkSmartPointer< vtkPolyData > &poly_data)
Convert a PCL PolygonMesh to a vtkPolyData object.
PCL_EXPORTS int savePolygonFileVTK(const std::string &file_name, const pcl::PolygonMesh &mesh)
Save a PolygonMesh object into a VTK file.
PCL_EXPORTS int vtk2mesh(const vtkSmartPointer< vtkPolyData > &poly_data, pcl::PolygonMesh &mesh)
Convert vtkPolyData object to a PCL PolygonMesh.
RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...
void pointCloudTovtkStructuredGrid(const pcl::PointCloud< PointT > &cloud, vtkStructuredGrid *const structured_grid)
Convert a pcl::PointCloud object to a VTK StructuredGrid one.
Definition: vtk_lib_io.hpp:392