Point Cloud Library (PCL)  1.14.0-dev
vtk_lib_io.h
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40 
41 #pragma once
42 
43 #include <pcl/point_cloud.h>
44 #include <pcl/PolygonMesh.h>
45 #include <pcl/TextureMesh.h>
46 #include <pcl/pcl_macros.h>
47 #include <pcl/conversions.h>
48 #include <pcl/range_image/range_image_planar.h>
49 
50 // Ignore warnings in the above headers
51 #ifdef __GNUC__
52 #pragma GCC system_header
53 #endif
54 #include <vtkPolyData.h> // for vtkPolyData
55 #include <vtkSmartPointer.h>
56 #include <vtkStructuredGrid.h>
57 
58 namespace pcl
59 {
60  namespace io
61  {
62  /** \brief Convert vtkPolyData object to a PCL PolygonMesh
63  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
64  * \param[out] mesh PCL Polygon Mesh to fill
65  * \return Number of points in the point cloud of mesh.
66  */
67  PCL_EXPORTS int
69  pcl::PolygonMesh& mesh);
70 
71  /** \brief Convert vtkPolyData object to a PCL TextureMesh
72  * \note In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)
73  * method, it fills the mesh with the uv-coordinates.
74  * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
75  * \param[out] mesh PCL TextureMesh to fill
76  * \return Number of points in the point cloud of mesh.
77  */
78  PCL_EXPORTS int
80  pcl::TextureMesh& mesh);
81 
82 
83  /** \brief Convert a PCL PolygonMesh to a vtkPolyData object
84  * \param[in] mesh Reference to PCL Polygon Mesh
85  * \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
86  * \return Number of points in the point cloud of mesh.
87  */
88  PCL_EXPORTS int
89  mesh2vtk (const pcl::PolygonMesh& mesh,
90  vtkSmartPointer<vtkPolyData>& poly_data);
91 
92  /** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension
93  * \param[in] file_name the name of the file containing the polygon data
94  * \param[out] mesh the object that we want to load the data in
95  * \return Number of points in the point cloud of the mesh.
96  * \ingroup io
97  */
98  PCL_EXPORTS int
99  loadPolygonFile (const std::string &file_name,
100  pcl::PolygonMesh& mesh);
101 
102  /** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
103  * \param[in] file_name the name of the file to save the data to
104  * \param[in] mesh the object that contains the data
105  * \param[in] binary_format if true, exported file is in binary format
106  * \return True if successful, false otherwise
107  * \ingroup io
108  */
109  PCL_EXPORTS bool
110  savePolygonFile (const std::string &file_name,
111  const pcl::PolygonMesh& mesh,
112  const bool binary_format = true);
113 
114  /** \brief Load a VTK file into a \ref PolygonMesh object
115  * \param[in] file_name the name of the file that contains the data
116  * \param[out] mesh the object that we want to load the data in
117  * \return Number of points in the point cloud of the mesh.
118  * \ingroup io
119  */
120  PCL_EXPORTS int
121  loadPolygonFileVTK (const std::string &file_name,
122  pcl::PolygonMesh& mesh);
123 
124  /** \brief Load a PLY file into a \ref PolygonMesh object
125  * \param[in] file_name the name of the file that contains the data
126  * \param[out] mesh the object that we want to load the data in
127  * \return Number of points in the point cloud of the mesh.
128  * \ingroup io
129  */
130  PCL_EXPORTS int
131  loadPolygonFilePLY (const std::string &file_name,
132  pcl::PolygonMesh& mesh);
133 
134  /** \brief Load an OBJ file into a \ref PolygonMesh object
135  * \param[in] file_name the name of the file that contains the data
136  * \param[out] mesh the object that we want to load the data in
137  * \return Number of points in the point cloud of the mesh.
138  * \ingroup io
139  */
140  PCL_EXPORTS int
141  loadPolygonFileOBJ (const std::string &file_name,
142  pcl::PolygonMesh& mesh);
143 
144  /** \brief Load an OBJ file into a \ref TextureMesh object.
145  * \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
146  * method, this method also loads the uv-coordinates from the file. It does not
147  * load the material information.
148  * \param[in] file_name the name of the file that contains the data
149  * \param[out] mesh the object that we want to load the data in
150  * \return Number of points in the point cloud of the mesh.
151  * \ingroup io
152  */
153  PCL_EXPORTS int
154  loadPolygonFileOBJ (const std::string &file_name,
155  pcl::TextureMesh& mesh);
156 
157 
158  /** \brief Load an STL file into a \ref PolygonMesh object
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  * \return Number of points in the point cloud of the mesh.
162  * \ingroup io
163  */
164  PCL_EXPORTS int
165  loadPolygonFileSTL (const std::string &file_name,
166  pcl::PolygonMesh& mesh);
167 
168  /** \brief Save a \ref PolygonMesh object into a VTK file
169  * \param[in] file_name the name of the file to save the data to
170  * \param[in] mesh the object that contains the data
171  * \param[in] binary_format if true, exported file is in binary format
172  * \return True if successful, false otherwise
173  * \ingroup io
174  */
175  PCL_EXPORTS bool
176  savePolygonFileVTK (const std::string &file_name,
177  const pcl::PolygonMesh& mesh,
178  const bool binary_format = true);
179 
180  /** \brief Save a \ref PolygonMesh object into a PLY file
181  * \param[in] file_name the name of the file to save the data to
182  * \param[in] mesh the object that contains the data
183  * \param[in] binary_format if true, exported file is in binary format
184  * \return True if successful, false otherwise
185  * \ingroup io
186  */
187  PCL_EXPORTS bool
188  savePolygonFilePLY (const std::string &file_name,
189  const pcl::PolygonMesh& mesh,
190  const bool binary_format = true);
191 
192  /** \brief Save a \ref PolygonMesh object into an STL file
193  * \param[in] file_name the name of the file to save the data to
194  * \param[in] mesh the object that contains the data
195  * \param[in] binary_format if true, exported file is in binary format
196  * \return True if successful, false otherwise
197  * \ingroup io
198  */
199  PCL_EXPORTS bool
200  savePolygonFileSTL (const std::string &file_name,
201  const pcl::PolygonMesh& mesh,
202  const bool binary_format = true);
203 
204  /** \brief Write a \ref RangeImagePlanar object to a PNG file
205  * \param[in] file_name the name of the file to save the data to
206  * \param[in] range_image the object that contains the data
207  * \ingroup io
208  */
209  PCL_EXPORTS void
210  saveRangeImagePlanarFilePNG (const std::string &file_name,
211  const pcl::RangeImagePlanar& range_image);
212 
213  /** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
214  * \param[in] cloud the input pcl::PointCloud object
215  * \param[out] polydata the resultant VTK PolyData object
216  * \ingroup io
217  */
218  template <typename PointT> void
220  vtkPolyData* const polydata);
221 
222  /** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
223  * \param[in] cloud the input PCLPointCloud2Ptr object
224  * \param[out] poly_data the resultant VTK PolyData object
225  * \ingroup io
226  */
227  PCL_EXPORTS void
229 
230  /** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
231  * \param[in] cloud the input pcl::PointCloud object
232  * \param[out] structured_grid the resultant VTK StructuredGrid object
233  * \ingroup io
234  */
235  template <typename PointT> void
237  vtkStructuredGrid* const structured_grid);
238 
239  /** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
240  * \param[in] polydata the input VTK PolyData object
241  * \param[out] cloud the resultant pcl::PointCloud object
242  * \ingroup io
243  */
244  template <typename PointT> void
245  vtkPolyDataToPointCloud (vtkPolyData* const polydata,
246  pcl::PointCloud<PointT>& cloud);
247 
248  /** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
249  * \param[in] structured_grid the input VTK StructuredGrid object
250  * \param[out] cloud the resultant pcl::PointCloud object
251  * \ingroup io
252  */
253  template <typename PointT> void
254  vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid,
255  pcl::PointCloud<PointT>& cloud);
256 
257  }
258 }
259 
260 #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...
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