Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2011, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id$ 00036 * 00037 */ 00038 00039 #ifndef VTK_UTILS_H_ 00040 #define VTK_UTILS_H_ 00041 00042 #include <pcl/pcl_macros.h> 00043 #include <pcl/PolygonMesh.h> 00044 #include <pcl/surface/vtk_smoothing/vtk.h> 00045 00046 namespace pcl 00047 { 00048 class PCL_EXPORTS VTKUtils 00049 { 00050 public: 00051 /** \brief Convert a PCL PolygonMesh to a VTK vtkPolyData. 00052 * \param[in] triangles PolygonMesh to be converted to vtkPolyData, stored in the object. 00053 */ 00054 static int 00055 convertToVTK (const pcl::PolygonMesh &triangles, vtkSmartPointer<vtkPolyData> &triangles_out_vtk); 00056 00057 /** \brief Convert the vtkPolyData object back to PolygonMesh. 00058 * \param[out] triangles the PolygonMesh to store the vtkPolyData in. 00059 */ 00060 static void 00061 convertToPCL (vtkSmartPointer<vtkPolyData> &vtk_polygons, pcl::PolygonMesh &triangles); 00062 00063 /** \brief Convert vtkPolyData object to a PCL PolygonMesh 00064 * \param[in] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object 00065 * \param[out] mesh PCL Polygon Mesh to fill 00066 * \return Number of points in the point cloud of mesh. 00067 */ 00068 static int 00069 vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::PolygonMesh& mesh); 00070 00071 /** \brief Convert a PCL PolygonMesh to a vtkPolyData object 00072 * \param[in] mesh Reference to PCL Polygon Mesh 00073 * \param[out] poly_data Pointer (vtkSmartPointer) to a vtkPolyData object 00074 * \return Number of points in the point cloud of mesh. 00075 */ 00076 static int 00077 mesh2vtk (const pcl::PolygonMesh& mesh, vtkSmartPointer<vtkPolyData> &poly_data); 00078 }; 00079 } 00080 00081 #endif /* VTK_UTILS_H_ */