Point Cloud Library (PCL)  1.12.0
vtk_lib_io.h
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40 
41 #pragma once
42 
43 #include <pcl/point_types.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/PolygonMesh.h>
46 #include <pcl/TextureMesh.h>
47 #include <pcl/pcl_macros.h>
48 #include <pcl/conversions.h>
49 #include <pcl/range_image/range_image_planar.h>
50 
51 // Ignore warnings in the above headers
52 #ifdef __GNUC__
53 #pragma GCC system_header
54 #endif
55 #include <vtkSmartPointer.h>
56 #include <vtkStructuredGrid.h>
57 #include <vtkPoints.h>
58 #include <vtkPointData.h>
59 #include <vtkCellArray.h>
60 #include <vtkUnsignedCharArray.h>
61 #include <vtkFloatArray.h>
62 #include <vtkPolyDataReader.h>
63 #include <vtkPolyDataWriter.h>
64 #include <vtkPLYReader.h>
65 #include <vtkPLYWriter.h>
66 #include <vtkOBJReader.h>
67 #include <vtkSTLReader.h>
68 #include <vtkSTLWriter.h>
69 #include <vtkPNGReader.h>
70 #include <vtkImageData.h>
71 #include <vtkPolyDataNormals.h>
72 
73 namespace pcl
74 {
75  namespace io
76  {
77  /** \brief Convert vtkPolyData object to a PCL PolygonMesh
78  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
79  * \param[out] mesh PCL Polygon Mesh to fill
80  * \return Number of points in the point cloud of mesh.
81  */
82  PCL_EXPORTS int
84  pcl::PolygonMesh& mesh);
85 
86  /** \brief Convert vtkPolyData object to a PCL TextureMesh
87  * \note In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)
88  * method, it fills the mesh with the uv-coordinates.
89  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
90  * \param[out] mesh PCL TextureMesh to fill
91  * \return Number of points in the point cloud of mesh.
92  */
93  PCL_EXPORTS int
95  pcl::TextureMesh& mesh);
96 
97 
98  /** \brief Convert a PCL PolygonMesh to a vtkPolyData object
99  * \param[in] mesh Reference to PCL Polygon Mesh
100  * \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
101  * \return Number of points in the point cloud of mesh.
102  */
103  PCL_EXPORTS int
104  mesh2vtk (const pcl::PolygonMesh& mesh,
105  vtkSmartPointer<vtkPolyData>& poly_data);
106 
107  /** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension
108  * \param[in] file_name the name of the file containing the polygon data
109  * \param[out] mesh the object that we want to load the data in
110  * \ingroup io
111  */
112  PCL_EXPORTS int
113  loadPolygonFile (const std::string &file_name,
114  pcl::PolygonMesh& mesh);
115 
116  /** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
117  * \param[in] file_name the name of the file to save the data to
118  * \param[in] mesh the object that contains the data
119  * \param[in] binary_format if true, exported file is in binary format
120  * \return True if successful, false otherwise
121  * \ingroup io
122  */
123  PCL_EXPORTS bool
124  savePolygonFile (const std::string &file_name,
125  const pcl::PolygonMesh& mesh,
126  const bool binary_format = true);
127 
128  /** \brief Load a VTK file into a \ref PolygonMesh object
129  * \param[in] file_name the name of the file that contains the data
130  * \param[out] mesh the object that we want to load the data in
131  * \ingroup io
132  */
133  PCL_EXPORTS int
134  loadPolygonFileVTK (const std::string &file_name,
135  pcl::PolygonMesh& mesh);
136 
137  /** \brief Load a PLY file into a \ref PolygonMesh object
138  * \param[in] file_name the name of the file that contains the data
139  * \param[out] mesh the object that we want to load the data in
140  * \ingroup io
141  */
142  PCL_EXPORTS int
143  loadPolygonFilePLY (const std::string &file_name,
144  pcl::PolygonMesh& mesh);
145 
146  /** \brief Load an OBJ file into a \ref PolygonMesh object
147  * \param[in] file_name the name of the file that contains the data
148  * \param[out] mesh the object that we want to load the data in
149  * \ingroup io
150  */
151  PCL_EXPORTS int
152  loadPolygonFileOBJ (const std::string &file_name,
153  pcl::PolygonMesh& mesh);
154 
155  /** \brief Load an OBJ file into a \ref TextureMesh object.
156  * \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
157  * method, this method also loads the uv-coordinates from the file. It does not
158  * load the material information.
159  * \param[in] file_name the name of the file that contains the data
160  * \param[out] mesh the object that we want to load the data in
161  * \ingroup io
162  */
163  PCL_EXPORTS int
164  loadPolygonFileOBJ (const std::string &file_name,
165  pcl::TextureMesh& mesh);
166 
167 
168  /** \brief Load an STL file into a \ref PolygonMesh object
169  * \param[in] file_name the name of the file that contains the data
170  * \param[out] mesh the object that we want to load the data in
171  * \ingroup io
172  */
173  PCL_EXPORTS int
174  loadPolygonFileSTL (const std::string &file_name,
175  pcl::PolygonMesh& mesh);
176 
177  /** \brief Save a \ref PolygonMesh object into a VTK file
178  * \param[in] file_name the name of the file to save the data to
179  * \param[in] mesh the object that contains the data
180  * \param[in] binary_format if true, exported file is in binary format
181  * \return True if successful, false otherwise
182  * \ingroup io
183  */
184  PCL_EXPORTS bool
185  savePolygonFileVTK (const std::string &file_name,
186  const pcl::PolygonMesh& mesh,
187  const bool binary_format = true);
188 
189  /** \brief Save a \ref PolygonMesh object into a PLY file
190  * \param[in] file_name the name of the file to save the data to
191  * \param[in] mesh the object that contains the data
192  * \param[in] binary_format if true, exported file is in binary format
193  * \return True if successful, false otherwise
194  * \ingroup io
195  */
196  PCL_EXPORTS bool
197  savePolygonFilePLY (const std::string &file_name,
198  const pcl::PolygonMesh& mesh,
199  const bool binary_format = true);
200 
201  /** \brief Save a \ref PolygonMesh object into an STL file
202  * \param[in] file_name the name of the file to save the data to
203  * \param[in] mesh the object that contains the data
204  * \param[in] binary_format if true, exported file is in binary format
205  * \return True if successful, false otherwise
206  * \ingroup io
207  */
208  PCL_EXPORTS bool
209  savePolygonFileSTL (const std::string &file_name,
210  const pcl::PolygonMesh& mesh,
211  const bool binary_format = true);
212 
213  /** \brief Write a \ref RangeImagePlanar object to a PNG file
214  * \param[in] file_name the name of the file to save the data to
215  * \param[in] range_image the object that contains the data
216  * \ingroup io
217  */
218  PCL_EXPORTS void
219  saveRangeImagePlanarFilePNG (const std::string &file_name,
220  const pcl::RangeImagePlanar& range_image);
221 
222  /** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
223  * \param[in] cloud the input pcl::PointCloud object
224  * \param[out] polydata the resultant VTK PolyData object
225  * \ingroup io
226  */
227  template <typename PointT> void
229  vtkPolyData* const polydata);
230 
231  /** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
232  * \param[in] cloud the input PCLPointCloud2Ptr object
233  * \param[out] poly_data the resultant VTK PolyData object
234  * \ingroup io
235  */
236  PCL_EXPORTS void
238 
239  /** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
240  * \param[in] cloud the input pcl::PointCloud object
241  * \param[out] structured_grid the resultant VTK StructuredGrid object
242  * \ingroup io
243  */
244  template <typename PointT> void
246  vtkStructuredGrid* const structured_grid);
247 
248  /** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
249  * \param[in] polydata the input VTK PolyData object
250  * \param[out] cloud the resultant pcl::PointCloud object
251  * \ingroup io
252  */
253  template <typename PointT> void
254  vtkPolyDataToPointCloud (vtkPolyData* const polydata,
255  pcl::PointCloud<PointT>& cloud);
256 
257  /** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
258  * \param[in] structured_grid the input VTK StructuredGrid object
259  * \param[out] cloud the resultant pcl::PointCloud object
260  * \ingroup io
261  */
262  template <typename PointT> void
263  vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid,
264  pcl::PointCloud<PointT>& cloud);
265 
266  }
267 }
268 
269 #include <pcl/io/impl/vtk_lib_io.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
RangeImagePlanar is derived from the original range image and differs from it because it's not a sphe...
Defines all the PCL implemented PointT point type structures.
void vtkPolyDataToPointCloud(vtkPolyData *const polydata, pcl::PointCloud< PointT > &cloud)
Convert a VTK PolyData object to a pcl::PointCloud one.
Definition: vtk_lib_io.hpp:71
PCL_EXPORTS int loadPolygonFileVTK(const std::string &file_name, pcl::PolygonMesh &mesh)
Load a VTK file into a PolygonMesh object.
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:160
PCL_EXPORTS void saveRangeImagePlanarFilePNG(const std::string &file_name, const pcl::RangeImagePlanar &range_image)
Write a RangeImagePlanar object to a PNG file.
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:394
PCL_EXPORTS bool savePolygonFilePLY(const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
Save a PolygonMesh object into a PLY file.
PCL_EXPORTS int loadPolygonFilePLY(const std::string &file_name, pcl::PolygonMesh &mesh)
Load a PLY file into a PolygonMesh object.
PCL_EXPORTS bool savePolygonFileVTK(const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
Save a PolygonMesh object into a VTK file.
PCL_EXPORTS int loadPolygonFileOBJ(const std::string &file_name, pcl::PolygonMesh &mesh)
Load an OBJ file into a PolygonMesh object.
PCL_EXPORTS bool savePolygonFile(const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
Save a PolygonMesh object given an input file name, based on the file extension.
PCL_EXPORTS bool savePolygonFileSTL(const std::string &file_name, const pcl::PolygonMesh &mesh, const bool binary_format=true)
Save a PolygonMesh object into an STL file.
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:286
PCL_EXPORTS int mesh2vtk(const pcl::PolygonMesh &mesh, vtkSmartPointer< vtkPolyData > &poly_data)
Convert a PCL PolygonMesh to a vtkPolyData object.
PCL_EXPORTS int vtk2mesh(const vtkSmartPointer< vtkPolyData > &poly_data, pcl::PolygonMesh &mesh)
Convert vtkPolyData object to a PCL PolygonMesh.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323