vtk_lib_io.h

/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Dirk Holz, University of Bonn.
 *  Copyright (c) 2012-, Open Perception, Inc.
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 * $Id$
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#pragma once
 
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include <pcl/pcl_macros.h>
#include <pcl/conversions.h>
#include <pcl/range_image/range_image_planar.h>
 
// Ignore warnings in the above headers
#ifdef __GNUC__
#pragma GCC system_header 
#endif
#include <vtkPolyData.h> // for vtkPolyData
#include <vtkSmartPointer.h>
#include <vtkStructuredGrid.h>
 
namespace pcl
{
  namespace io
  {
    /** \brief Convert vtkPolyData object to a PCL PolygonMesh
      * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
      * \param[out] mesh PCL Polygon Mesh to fill
      * \return Number of points in the point cloud of mesh.
      */
    PCL_EXPORTS int
    vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, 
              pcl::PolygonMesh& mesh);
 
    /** \brief Convert vtkPolyData object to a PCL TextureMesh
      * \note In addition to the vtk2mesh (const vtkSmartPointer<vtkPolyData>&, pcl::PolygonMesh&)
      * method, it fills the mesh with the uv-coordinates.
      * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
      * \param[out] mesh PCL TextureMesh to fill
      * \return Number of points in the point cloud of mesh.
      */
    PCL_EXPORTS int
    vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data,
              pcl::TextureMesh& mesh);
 
 
    /** \brief Convert a PCL PolygonMesh to a vtkPolyData object
      * \param[in] mesh Reference to PCL Polygon Mesh
      * \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object
      * \return Number of points in the point cloud of mesh.
      */
    PCL_EXPORTS int
    mesh2vtk (const pcl::PolygonMesh& mesh, 
              vtkSmartPointer<vtkPolyData>& poly_data);
 
    /** \brief Load a \ref PolygonMesh object given an input file name, based on the file extension
      * \param[in] file_name the name of the file containing the polygon data
      * \param[out] mesh the object that we want to load the data in 
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */ 
    PCL_EXPORTS int
    loadPolygonFile (const std::string &file_name, 
                     pcl::PolygonMesh& mesh);
 
    /** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
      * \param[in] file_name the name of the file to save the data to
      * \param[in] mesh the object that contains the data
      * \param[in] binary_format if true, exported file is in binary format
      * \return True if successful, false otherwise
      * \ingroup io
      */
    PCL_EXPORTS bool
    savePolygonFile (const std::string &file_name, 
                     const pcl::PolygonMesh& mesh,
                     const bool binary_format = true);
 
    /** \brief Load a VTK file into a \ref PolygonMesh object
      * \param[in] file_name the name of the file that contains the data
      * \param[out] mesh the object that we want to load the data in 
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */
    PCL_EXPORTS int
    loadPolygonFileVTK (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);
 
    /** \brief Load a PLY file into a \ref PolygonMesh object
      * \param[in] file_name the name of the file that contains the data
      * \param[out] mesh the object that we want to load the data in 
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */
    PCL_EXPORTS int
    loadPolygonFilePLY (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);
 
    /** \brief Load an OBJ file into a \ref PolygonMesh object
      * \param[in] file_name the name of the file that contains the data
      * \param[out] mesh the object that we want to load the data in 
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */
    PCL_EXPORTS int
    loadPolygonFileOBJ (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);
 
    /** \brief Load an OBJ file into a \ref TextureMesh object.
      * \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
      * method, this method also loads the uv-coordinates from the file. It does not
      * load the material information.
      * \param[in] file_name the name of the file that contains the data
      * \param[out] mesh the object that we want to load the data in
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */
    PCL_EXPORTS int
    loadPolygonFileOBJ (const std::string &file_name,
                        pcl::TextureMesh& mesh);
 
 
    /** \brief Load an STL file into a \ref PolygonMesh object
      * \param[in] file_name the name of the file that contains the data
      * \param[out] mesh the object that we want to load the data in 
      * \return Number of points in the point cloud of the mesh.
      * \ingroup io
      */
    PCL_EXPORTS int
    loadPolygonFileSTL (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);
 
    /** \brief Save a \ref PolygonMesh object into a VTK file
      * \param[in] file_name the name of the file to save the data to
      * \param[in] mesh the object that contains the data
      * \param[in] binary_format if true, exported file is in binary format
      * \return True if successful, false otherwise
      * \ingroup io
      */
    PCL_EXPORTS bool
    savePolygonFileVTK (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh,
                        const bool binary_format = true);
 
    /** \brief Save a \ref PolygonMesh object into a PLY file
      * \param[in] file_name the name of the file to save the data to
      * \param[in] mesh the object that contains the data
      * \param[in] binary_format if true, exported file is in binary format
      * \return True if successful, false otherwise
      * \ingroup io
      */
    PCL_EXPORTS bool
    savePolygonFilePLY (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh,
                        const bool binary_format = true);
 
    /** \brief Save a \ref PolygonMesh object into an STL file
      * \param[in] file_name the name of the file to save the data to
      * \param[in] mesh the object that contains the data
      * \param[in] binary_format if true, exported file is in binary format
      * \return True if successful, false otherwise
      * \ingroup io
      */
    PCL_EXPORTS bool
    savePolygonFileSTL (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh,
                        const bool binary_format = true);
 
    /** \brief Write a \ref RangeImagePlanar object to a PNG file
      * \param[in] file_name the name of the file to save the data to
      * \param[in] range_image the object that contains the data
      * \ingroup io
      */
    PCL_EXPORTS void
    saveRangeImagePlanarFilePNG (const std::string &file_name,
                                 const pcl::RangeImagePlanar& range_image);
 
    /** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
      * \param[in] cloud the input pcl::PointCloud object
      * \param[out] polydata the resultant VTK PolyData object
      * \ingroup io
      */
    template <typename PointT> void
    pointCloudTovtkPolyData (const pcl::PointCloud<PointT>& cloud, 
                             vtkPolyData* const polydata);
 
    /** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
      * \param[in] cloud the input PCLPointCloud2Ptr object
      * \param[out] poly_data the resultant VTK PolyData object
      * \ingroup io
      */
    PCL_EXPORTS void
    pointCloudTovtkPolyData(const pcl::PCLPointCloud2Ptr& cloud, vtkSmartPointer<vtkPolyData>& poly_data);
 
    /** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
      * \param[in] cloud the input pcl::PointCloud object
      * \param[out] structured_grid the resultant VTK StructuredGrid object
      * \ingroup io
      */
    template <typename PointT> void
    pointCloudTovtkStructuredGrid (const pcl::PointCloud<PointT>& cloud, 
                                   vtkStructuredGrid* const structured_grid);
 
    /** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
      * \param[in] polydata the input VTK PolyData object
      * \param[out] cloud the resultant pcl::PointCloud object
      * \ingroup io
      */
    template <typename PointT> void
    vtkPolyDataToPointCloud (vtkPolyData* const polydata, 
                             pcl::PointCloud<PointT>& cloud);
 
    /** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
      * \param[in] structured_grid the input VTK StructuredGrid object
      * \param[out] cloud the resultant pcl::PointCloud object
      * \ingroup io
      */
    template <typename PointT> void
    vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid, 
                                   pcl::PointCloud<PointT>& cloud);
 
  }
}
 
#include <pcl/io/impl/vtk_lib_io.hpp>