Point Cloud Library (PCL) 1.13.0
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vtk_lib_io.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Dirk Holz, University of Bonn.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
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11 * modification, are permitted provided that the following conditions
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37 * $Id$
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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
58namespace 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
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 * \ingroup io
96 */
97 PCL_EXPORTS int
98 loadPolygonFile (const std::string &file_name,
99 pcl::PolygonMesh& mesh);
100
101 /** \brief Save a \ref PolygonMesh object given an input file name, based on the file extension
102 * \param[in] file_name the name of the file to save the data to
103 * \param[in] mesh the object that contains the data
104 * \param[in] binary_format if true, exported file is in binary format
105 * \return True if successful, false otherwise
106 * \ingroup io
107 */
108 PCL_EXPORTS bool
109 savePolygonFile (const std::string &file_name,
110 const pcl::PolygonMesh& mesh,
111 const bool binary_format = true);
112
113 /** \brief Load a VTK file into a \ref PolygonMesh object
114 * \param[in] file_name the name of the file that contains the data
115 * \param[out] mesh the object that we want to load the data in
116 * \ingroup io
117 */
118 PCL_EXPORTS int
119 loadPolygonFileVTK (const std::string &file_name,
120 pcl::PolygonMesh& mesh);
121
122 /** \brief Load a PLY file into a \ref PolygonMesh object
123 * \param[in] file_name the name of the file that contains the data
124 * \param[out] mesh the object that we want to load the data in
125 * \ingroup io
126 */
127 PCL_EXPORTS int
128 loadPolygonFilePLY (const std::string &file_name,
129 pcl::PolygonMesh& mesh);
130
131 /** \brief Load an OBJ file into a \ref PolygonMesh object
132 * \param[in] file_name the name of the file that contains the data
133 * \param[out] mesh the object that we want to load the data in
134 * \ingroup io
135 */
136 PCL_EXPORTS int
137 loadPolygonFileOBJ (const std::string &file_name,
138 pcl::PolygonMesh& mesh);
139
140 /** \brief Load an OBJ file into a \ref TextureMesh object.
141 * \note In addition to the loadPolygonFileOBJ (const std::string, pcl::PolygonMesh&)
142 * method, this method also loads the uv-coordinates from the file. It does not
143 * load the material information.
144 * \param[in] file_name the name of the file that contains the data
145 * \param[out] mesh the object that we want to load the data in
146 * \ingroup io
147 */
148 PCL_EXPORTS int
149 loadPolygonFileOBJ (const std::string &file_name,
150 pcl::TextureMesh& mesh);
151
152
153 /** \brief Load an STL file into a \ref PolygonMesh object
154 * \param[in] file_name the name of the file that contains the data
155 * \param[out] mesh the object that we want to load the data in
156 * \ingroup io
157 */
158 PCL_EXPORTS int
159 loadPolygonFileSTL (const std::string &file_name,
160 pcl::PolygonMesh& mesh);
161
162 /** \brief Save a \ref PolygonMesh object into a VTK file
163 * \param[in] file_name the name of the file to save the data to
164 * \param[in] mesh the object that contains the data
165 * \param[in] binary_format if true, exported file is in binary format
166 * \return True if successful, false otherwise
167 * \ingroup io
168 */
169 PCL_EXPORTS bool
170 savePolygonFileVTK (const std::string &file_name,
171 const pcl::PolygonMesh& mesh,
172 const bool binary_format = true);
173
174 /** \brief Save a \ref PolygonMesh object into a PLY file
175 * \param[in] file_name the name of the file to save the data to
176 * \param[in] mesh the object that contains the data
177 * \param[in] binary_format if true, exported file is in binary format
178 * \return True if successful, false otherwise
179 * \ingroup io
180 */
181 PCL_EXPORTS bool
182 savePolygonFilePLY (const std::string &file_name,
183 const pcl::PolygonMesh& mesh,
184 const bool binary_format = true);
185
186 /** \brief Save a \ref PolygonMesh object into an STL file
187 * \param[in] file_name the name of the file to save the data to
188 * \param[in] mesh the object that contains the data
189 * \param[in] binary_format if true, exported file is in binary format
190 * \return True if successful, false otherwise
191 * \ingroup io
192 */
193 PCL_EXPORTS bool
194 savePolygonFileSTL (const std::string &file_name,
195 const pcl::PolygonMesh& mesh,
196 const bool binary_format = true);
197
198 /** \brief Write a \ref RangeImagePlanar object to a PNG file
199 * \param[in] file_name the name of the file to save the data to
200 * \param[in] range_image the object that contains the data
201 * \ingroup io
202 */
203 PCL_EXPORTS void
204 saveRangeImagePlanarFilePNG (const std::string &file_name,
205 const pcl::RangeImagePlanar& range_image);
206
207 /** \brief Convert a pcl::PointCloud object to a VTK PolyData one.
208 * \param[in] cloud the input pcl::PointCloud object
209 * \param[out] polydata the resultant VTK PolyData object
210 * \ingroup io
211 */
212 template <typename PointT> void
214 vtkPolyData* const polydata);
215
216 /** \brief Convert a PCLPointCloud2 object to a VTK PolyData object.
217 * \param[in] cloud the input PCLPointCloud2Ptr object
218 * \param[out] poly_data the resultant VTK PolyData object
219 * \ingroup io
220 */
221 PCL_EXPORTS void
223
224 /** \brief Convert a pcl::PointCloud object to a VTK StructuredGrid one.
225 * \param[in] cloud the input pcl::PointCloud object
226 * \param[out] structured_grid the resultant VTK StructuredGrid object
227 * \ingroup io
228 */
229 template <typename PointT> void
231 vtkStructuredGrid* const structured_grid);
232
233 /** \brief Convert a VTK PolyData object to a pcl::PointCloud one.
234 * \param[in] polydata the input VTK PolyData object
235 * \param[out] cloud the resultant pcl::PointCloud object
236 * \ingroup io
237 */
238 template <typename PointT> void
239 vtkPolyDataToPointCloud (vtkPolyData* const polydata,
241
242 /** \brief Convert a VTK StructuredGrid object to a pcl::PointCloud one.
243 * \param[in] structured_grid the input VTK StructuredGrid object
244 * \param[out] cloud the resultant pcl::PointCloud object
245 * \ingroup io
246 */
247 template <typename PointT> void
248 vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid,
250
251 }
252}
253
254#include <pcl/io/impl/vtk_lib_io.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
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.
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.
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.
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.
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.