vtk_io.cpp

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/*
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: vtk_io.cpp 35701 2011-02-02 08:37:38Z rusu $
 *
 */

#include <pcl/io/vtk_io.h>
#include <fstream>
#include <iostream>
#include <pcl/io/io.h>

int
pcl::io::saveVTKFile (const std::string &file_name, 
    const pcl::PolygonMesh &triangles, unsigned precision)
{
  if (triangles.cloud.data.empty ())
  {
    ROS_ERROR ("[pcl::io::saveVTKFile] Input point cloud has no data!");
    return (-1);
  }

  // Open file
  std::ofstream fs;
  fs.precision (precision);
  fs.open (file_name.c_str ());

  int nr_points  = triangles.cloud.width * triangles.cloud.height;
  int point_size = triangles.cloud.data.size () / nr_points;

  // Write the header information
  fs << "# vtk DataFile Version 3.0\nvtk output\nASCII\nDATASET POLYDATA\nPOINTS " << nr_points << " float" << std::endl;

  // Iterate through the points
  for (int i = 0; i < nr_points; ++i)
  {
    int xyz = 0;
    for (size_t d = 0; d < triangles.cloud.fields.size (); ++d)
    {
      int count = triangles.cloud.fields[d].count;
      if (count == 0)
        count = 1;          // we simply cannot tolerate 0 counts (coming from older converter code)
      int c = 0;
      if ((triangles.cloud.fields[d].datatype == sensor_msgs::PointField::FLOAT32) && (
           triangles.cloud.fields[d].name == "x" || 
           triangles.cloud.fields[d].name == "y" || 
           triangles.cloud.fields[d].name == "z"))
      {
        float value;
        memcpy (&value, &triangles.cloud.data[i * point_size + triangles.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
        fs << value;
        if (++xyz == 3)
          break;
      }
      fs << " ";
    }
    if (xyz != 3)
    {
      ROS_ERROR ("[pcl::io::saveVTKFile] Input point cloud has no XYZ data!");
      return (-2);
    }
    fs << std::endl;
  }

  // Write vertices
  fs << "\nVERTICES " << nr_points << " " << 2*nr_points << std::endl;
  for (int i = 0; i < nr_points; ++i)
    fs << "1 " << i << std::endl;

  // Write polygons
  // note: Double check the second parameter!
  fs << "\nPOLYGONS " << triangles.polygons.size () << " " << (triangles.polygons[0].vertices.size () + 1) * triangles.polygons.size () << std::endl;
  for (size_t i = 0; i < triangles.polygons.size (); ++i)
  {
    fs << triangles.polygons[i].vertices.size () << " ";
    size_t j = 0;
    for (j = 0; j < triangles.polygons[i].vertices.size () - 1; ++j)
      fs << triangles.polygons[i].vertices[j] << " ";
    fs << triangles.polygons[i].vertices[j] << std::endl;
  }

  // Write RGB values
  int field_index = getFieldIndex (triangles.cloud, "rgb");
  if (field_index != -1)
  {
    fs << "\nPOINT_DATA " << nr_points << "\nCOLOR_SCALARS scalars 3\n";
    for (int i = 0; i < nr_points; ++i)
    {
      int count = triangles.cloud.fields[field_index].count;
      if (count == 0)
        count = 1;          // we simply cannot tolerate 0 counts (coming from older converter code)
      int c = 0;
      if (triangles.cloud.fields[field_index].datatype == sensor_msgs::PointField::FLOAT32)
      {
        float value;
        memcpy (&value, &triangles.cloud.data[i * point_size + triangles.cloud.fields[field_index].offset + c * sizeof (float)], sizeof (float));
        int color = *reinterpret_cast<const int*>(&(value));
        int r = (0xff0000 & color) >> 16;
        int g = (0x00ff00 & color) >> 8;
        int b =  0x0000ff & color;
        fs << (float)r/255.0 << " " << (float)g/255.0 << " " << (float)b/255.0;
      }
      fs << std::endl;
    }
  }

  // Close file
  fs.close ();
  return (0);
}

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:25 2013