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VTK io fixes #1279

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merged 2 commits into from
Jul 30, 2015
Merged

VTK io fixes #1279

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4ee1941
Improve return value of savePolygonFile* methods
VictorLamoine Jul 15, 2015
a15c0e6
Handle ASCII/Binary in savePolygonFile* methods
VictorLamoine Jul 15, 2015
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28 changes: 20 additions & 8 deletions io/include/pcl/io/vtk_lib_io.h
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Original file line number Diff line number Diff line change
Expand Up @@ -119,11 +119,14 @@ namespace pcl
/** \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 int
PCL_EXPORTS bool
savePolygonFile (const std::string &file_name,
const pcl::PolygonMesh& mesh);
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
Expand Down Expand Up @@ -177,29 +180,38 @@ namespace pcl
/** \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 int
PCL_EXPORTS bool
savePolygonFileVTK (const std::string &file_name,
const pcl::PolygonMesh& mesh);
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 int
PCL_EXPORTS bool
savePolygonFilePLY (const std::string &file_name,
const pcl::PolygonMesh& mesh);
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 int
PCL_EXPORTS bool
savePolygonFileSTL (const std::string &file_name,
const pcl::PolygonMesh& mesh);
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
Expand Down
67 changes: 37 additions & 30 deletions io/src/vtk_lib_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,26 +74,21 @@ pcl::io::loadPolygonFile (const std::string &file_name, pcl::PolygonMesh& mesh)
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::io::savePolygonFile (const std::string &file_name, const pcl::PolygonMesh& mesh)
bool
pcl::io::savePolygonFile (const std::string &file_name,
const pcl::PolygonMesh& mesh,
const bool binary_format)
{
// TODO: what about binary/ASCII modes?!?!?!
// TODO: what about sensor position and orientation?!?!?!?
// TODO: how to adequately catch exceptions thrown by the vtk writers?!
std::string extension = file_name.substr (file_name.find_last_of (".") + 1);
if (extension == "pcd") // no Polygon, but only a point cloud
{
int error_code = pcl::io::savePCDFile (file_name, mesh.cloud);
if (error_code != 0)
return (0);
return (static_cast<int> (mesh.cloud.width * mesh.cloud.height));
}
if (extension == "pcd") // no Polygon, but only a point cloud
return (pcl::io::savePCDFile (file_name, mesh.cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), binary_format) == 0);
else if (extension == "vtk")
return (pcl::io::savePolygonFileVTK (file_name, mesh));
return (pcl::io::savePolygonFileVTK (file_name, mesh, binary_format));
else if (extension == "ply")
return (pcl::io::savePolygonFilePLY (file_name, mesh));
else if (extension == "stl" )
return (pcl::io::savePolygonFileSTL (file_name, mesh));
return (pcl::io::savePolygonFilePLY (file_name, mesh, binary_format));
else if (extension == "stl")
return (pcl::io::savePolygonFileSTL (file_name, mesh, binary_format));
else
{
PCL_ERROR ("[pcl::io::savePolygonFile]: Unsupported file type (%s)\n", extension.c_str ());
Expand Down Expand Up @@ -171,8 +166,10 @@ pcl::io::loadPolygonFileSTL (const std::string &file_name, pcl::PolygonMesh& mes
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMesh& mesh)
bool
pcl::io::savePolygonFileVTK (const std::string &file_name,
const pcl::PolygonMesh& mesh,
const bool binary_format)
{
vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();

Expand All @@ -184,15 +181,19 @@ pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMes
#else
poly_writer->SetInputData (poly_data);
#endif
poly_writer->SetFileName (file_name.c_str ());
poly_writer->Write ();

return (static_cast<int> (mesh.cloud.width * mesh.cloud.height));
if (!binary_format)
poly_writer->SetFileTypeToASCII ();

poly_writer->SetFileName (file_name.c_str ());
return (poly_writer->Write ());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMesh& mesh)
bool
pcl::io::savePolygonFilePLY (const std::string &file_name,
const pcl::PolygonMesh& mesh,
const bool binary_format)
{
vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();

Expand All @@ -204,16 +205,20 @@ pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMes
#else
poly_writer->SetInputData (poly_data);
#endif

if (!binary_format)
poly_writer->SetFileTypeToASCII ();

poly_writer->SetFileName (file_name.c_str ());
poly_writer->SetArrayName ("Colors");
poly_writer->Write ();

return (static_cast<int> (mesh.cloud.width * mesh.cloud.height));
return (poly_writer->Write ());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMesh& mesh)
bool
pcl::io::savePolygonFileSTL (const std::string &file_name,
const pcl::PolygonMesh& mesh,
const bool binary_format)
{
vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();

Expand All @@ -224,10 +229,12 @@ pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMes
#else
poly_writer->SetInputData (poly_data);
#endif
poly_writer->SetFileName (file_name.c_str ());
poly_writer->Write ();

return (static_cast<int> (mesh.cloud.width * mesh.cloud.height));
if (!binary_format)
poly_writer->SetFileTypeToASCII ();

poly_writer->SetFileName (file_name.c_str ());
return (poly_writer->Write ());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down