270 lines
11 KiB
C
270 lines
11 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2011, Dirk Holz, University of Bonn.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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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
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* 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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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* 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
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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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* $Id$
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*
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*/
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#pragma once
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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#include <pcl/PolygonMesh.h>
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#include <pcl/TextureMesh.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/conversions.h>
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#include <pcl/range_image/range_image_planar.h>
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// Ignore warnings in the above headers
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#ifdef __GNUC__
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#pragma GCC system_header
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#endif
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#include <vtkSmartPointer.h>
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#include <vtkStructuredGrid.h>
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#include <vtkPoints.h>
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#include <vtkPointData.h>
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#include <vtkCellArray.h>
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#include <vtkUnsignedCharArray.h>
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#include <vtkFloatArray.h>
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#include <vtkPolyDataReader.h>
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#include <vtkPolyDataWriter.h>
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#include <vtkPLYReader.h>
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#include <vtkPLYWriter.h>
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#include <vtkOBJReader.h>
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#include <vtkSTLReader.h>
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#include <vtkSTLWriter.h>
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#include <vtkPNGReader.h>
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#include <vtkImageData.h>
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#include <vtkPolyDataNormals.h>
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namespace pcl
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{
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namespace io
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{
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/** \brief Convert vtkPolyData object to a PCL PolygonMesh
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* \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
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* \param[out] mesh PCL Polygon Mesh to fill
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* \return Number of points in the point cloud of mesh.
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*/
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PCL_EXPORTS int
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vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data,
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pcl::PolygonMesh& mesh);
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/** \brief Convert vtkPolyData object to a PCL TextureMesh
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* \note In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)
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* method, it fills the mesh with the uv-coordinates.
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* \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
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* \param[out] mesh PCL TextureMesh to fill
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* \return Number of points in the point cloud of mesh.
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*/
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PCL_EXPORTS int
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vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data,
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pcl::TextureMesh& mesh);
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/** \brief Convert a PCL PolygonMesh to a vtkPolyData object
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* \param[in] mesh Reference to PCL Polygon Mesh
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* \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
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* \return Number of points in the point cloud of mesh.
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*/
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PCL_EXPORTS int
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mesh2vtk (const pcl::PolygonMesh& mesh,
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vtkSmartPointer<vtkPolyData>& poly_data);
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/** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension
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* \param[in] file_name the name of the file containing the polygon data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFile (const std::string &file_name,
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pcl::PolygonMesh& mesh);
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/** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
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* \param[in] file_name the name of the file to save the data to
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* \param[in] mesh the object that contains the data
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* \param[in] binary_format if true, exported file is in binary format
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* \return True if successful, false otherwise
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* \ingroup io
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*/
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PCL_EXPORTS bool
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savePolygonFile (const std::string &file_name,
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const pcl::PolygonMesh& mesh,
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const bool binary_format = true);
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/** \brief Load a VTK file into a \ref PolygonMesh object
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* \param[in] file_name the name of the file that contains the data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFileVTK (const std::string &file_name,
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pcl::PolygonMesh& mesh);
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/** \brief Load a PLY file into a \ref PolygonMesh object
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* \param[in] file_name the name of the file that contains the data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFilePLY (const std::string &file_name,
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pcl::PolygonMesh& mesh);
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/** \brief Load an OBJ file into a \ref PolygonMesh object
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* \param[in] file_name the name of the file that contains the data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFileOBJ (const std::string &file_name,
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pcl::PolygonMesh& mesh);
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/** \brief Load an OBJ file into a \ref TextureMesh object.
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* \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
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* method, this method also loads the uv-coordinates from the file. It does not
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* load the material information.
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* \param[in] file_name the name of the file that contains the data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFileOBJ (const std::string &file_name,
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pcl::TextureMesh& mesh);
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/** \brief Load an STL file into a \ref PolygonMesh object
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* \param[in] file_name the name of the file that contains the data
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* \param[out] mesh the object that we want to load the data in
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* \ingroup io
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*/
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PCL_EXPORTS int
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loadPolygonFileSTL (const std::string &file_name,
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pcl::PolygonMesh& mesh);
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/** \brief Save a \ref PolygonMesh object into a VTK file
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* \param[in] file_name the name of the file to save the data to
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* \param[in] mesh the object that contains the data
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* \param[in] binary_format if true, exported file is in binary format
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* \return True if successful, false otherwise
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* \ingroup io
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*/
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PCL_EXPORTS bool
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savePolygonFileVTK (const std::string &file_name,
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const pcl::PolygonMesh& mesh,
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const bool binary_format = true);
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/** \brief Save a \ref PolygonMesh object into a PLY file
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* \param[in] file_name the name of the file to save the data to
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* \param[in] mesh the object that contains the data
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* \param[in] binary_format if true, exported file is in binary format
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* \return True if successful, false otherwise
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* \ingroup io
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*/
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PCL_EXPORTS bool
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savePolygonFilePLY (const std::string &file_name,
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const pcl::PolygonMesh& mesh,
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const bool binary_format = true);
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/** \brief Save a \ref PolygonMesh object into an STL file
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* \param[in] file_name the name of the file to save the data to
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* \param[in] mesh the object that contains the data
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* \param[in] binary_format if true, exported file is in binary format
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* \return True if successful, false otherwise
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* \ingroup io
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*/
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PCL_EXPORTS bool
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savePolygonFileSTL (const std::string &file_name,
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const pcl::PolygonMesh& mesh,
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const bool binary_format = true);
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/** \brief Write a \ref RangeImagePlanar object to a PNG file
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* \param[in] file_name the name of the file to save the data to
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* \param[in] range_image the object that contains the data
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* \ingroup io
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*/
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PCL_EXPORTS void
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saveRangeImagePlanarFilePNG (const std::string &file_name,
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const pcl::RangeImagePlanar& range_image);
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/** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
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* \param[in] cloud the input pcl::PointCloud object
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* \param[out] polydata the resultant VTK PolyData object
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* \ingroup io
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*/
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template <typename PointT> void
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pointCloudTovtkPolyData (const pcl::PointCloud<PointT>& cloud,
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vtkPolyData* const polydata);
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/** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
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* \param[in] cloud the input PCLPointCloud2Ptr object
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* \param[out] poly_data the resultant VTK PolyData object
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* \ingroup io
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*/
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PCL_EXPORTS void
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pointCloudTovtkPolyData(const pcl::PCLPointCloud2Ptr& cloud, vtkSmartPointer<vtkPolyData>& poly_data);
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/** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
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* \param[in] cloud the input pcl::PointCloud object
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* \param[out] structured_grid the resultant VTK StructuredGrid object
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* \ingroup io
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*/
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template <typename PointT> void
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pointCloudTovtkStructuredGrid (const pcl::PointCloud<PointT>& cloud,
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vtkStructuredGrid* const structured_grid);
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/** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
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* \param[in] polydata the input VTK PolyData object
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* \param[out] cloud the resultant pcl::PointCloud object
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* \ingroup io
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*/
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template <typename PointT> void
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vtkPolyDataToPointCloud (vtkPolyData* const polydata,
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pcl::PointCloud<PointT>& cloud);
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/** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
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* \param[in] structured_grid the input VTK StructuredGrid object
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* \param[out] cloud the resultant pcl::PointCloud object
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* \ingroup io
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*/
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template <typename PointT> void
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vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid,
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pcl::PointCloud<PointT>& cloud);
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}
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}
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#include <pcl/io/impl/vtk_lib_io.hpp>
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