vtk_lib_io.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Dirk Holz, University of Bonn.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: vtk_lib_io.h 6141 2012-07-04 20:28:01Z rusu $
 *
 */

#ifndef PCL_IO_VTK_LIB_IO_H_
#define PCL_IO_VTK_LIB_IO_H_

#include <boost/filesystem.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include <pcl/pcl_macros.h>
#include <pcl/ros/conversions.h>
#include <pcl/io/pcd_io.h>
#include <pcl/range_image/range_image_planar.h>

// Ignore warnings in the above headers
#ifdef __GNUC__
#pragma GCC system_header 
#endif
#include <vtkSmartPointer.h>
#include <vtkStructuredGrid.h>
#include <vtkPoints.h>
#include <vtkPointData.h>
#include <vtkCellArray.h>
#include <vtkUnsignedCharArray.h>
#include <vtkFloatArray.h>
#include <vtkPolyDataReader.h>
#include <vtkPolyDataWriter.h>
#include <vtkPLYReader.h>
#include <vtkPLYWriter.h>
#include <vtkOBJReader.h>
#include <vtkSTLReader.h>
#include <vtkSTLWriter.h>

namespace pcl
{
  namespace io
  {
    PCL_EXPORTS int
    vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, 
              pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    mesh2vtk (const pcl::PolygonMesh& mesh, 
              vtkSmartPointer<vtkPolyData>& poly_data);

    PCL_EXPORTS int
    loadPolygonFile (const std::string &file_name, 
                     pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    savePolygonFile (const std::string &file_name, 
                     const pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    loadPolygonFileVTK (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    loadPolygonFilePLY (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    loadPolygonFileOBJ (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    loadPolygonFileSTL (const std::string &file_name, 
                        pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    savePolygonFileVTK (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    savePolygonFilePLY (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh);

    PCL_EXPORTS int
    savePolygonFileSTL (const std::string &file_name, 
                        const pcl::PolygonMesh& mesh);

    PCL_EXPORTS void
    saveRangeImagePlanarFilePNG (const std::string &file_name,
                                 const pcl::RangeImagePlanar& range_image);

    template <typename PointT> void
    pointCloudTovtkPolyData (const pcl::PointCloud<PointT>& cloud, 
                             vtkPolyData* const polydata);

    template <typename PointT> void
    pointCloudTovtkStructuredGrid (const pcl::PointCloud<PointT>& cloud, 
                                   vtkStructuredGrid* const structured_grid);

    template <typename PointT> void
    vtkPolyDataToPointCloud (vtkPolyData* const polydata, 
                             pcl::PointCloud<PointT>& cloud);

    template <typename PointT> void
    vtkStructuredGridToPointCloud (vtkStructuredGrid* const structured_grid, 
                                   pcl::PointCloud<PointT>& cloud);

  }
}

#endif /* PLC_IO_VTK_LIB_IO_H_ */