cc2sm.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include <Utils/PCLCloud.h>
 
#include "qPCL.h"
 
// CV_DB_LIB
#include <ecvMaterial.h>
 
// PCL
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
// Eigen (for texture coordinates)
#include <Eigen/Dense>
 
// VTK
#include <vtkSmartPointer.h>
 
// system
#include <list>
#include <string>
#include <vector>
 
class ccPointCloud;
class ccGenericMesh;
class ccPolyline;
 
class vtkPolyData;
class vtkDataArray;
class vtkMatrix4x4;
class vtkPolyData;
 
class QPCL_ENGINE_LIB_API cc2smReader {
public:
    explicit cc2smReader(bool showMode = false);
    explicit cc2smReader(const ccPointCloud* cc_cloud, bool showMode = false);
 
    PCLCloud::Ptr getGenericField(std::string field_name) const;
 
    unsigned getvisibilityNum() const;
 
    PCLCloud::Ptr getXYZ() const;
    pcl::PointCloud<pcl::PointXYZ>::Ptr getXYZ2() const;
 
    PCLCloud::Ptr getNormals() const;
    PCLCloud::Ptr getPointNormals() const;
 
    PCLCloud::Ptr getColors() const;
 
    bool getvtkScalars(vtkSmartPointer<vtkDataArray>& scalars,
                       bool sfColors) const;
 
    enum Fields { COORD_X, COORD_Y, COORD_Z, NORM_X, NORM_Y, NORM_Z };
    PCLCloud::Ptr getOneOf(Fields field) const;
 
    PCLCloud::Ptr getFloatScalarField(const std::string& field_name) const;
 
    PCLCloud::Ptr getAsSM(std::list<std::string>& requested_fields) const;
 
 
    PCLCloud::Ptr getAsSM(bool ignoreScalars = false) const;
    PCLCloud::Ptr getAsSM(bool xyz,
                          bool normals,
                          bool rgbColors,
                          const QStringList& scalarFields) const;
 
    pcl::PointCloud<pcl::PointXYZ>::Ptr getRawXYZ() const;
 
    pcl::PointCloud<pcl::PointNormal>::Ptr getAsPointNormal() const;
 
    PCLCloud::Ptr getVtkPolyDataAsSM(vtkPolyData* const polydata) const;
    PCLMesh::Ptr getVtkPolyDataAsPclMesh(vtkPolyData* const polydata) const;
 
    PCLMesh::Ptr getPclMesh(ccGenericMesh* mesh);
    PCLTextureMesh::Ptr getPclTextureMesh(ccGenericMesh* mesh);
 
    PCLPolygon::Ptr getPclPolygon(ccPolyline* polyline) const;
 
    bool getPclCloud2(ccGenericMesh* mesh, PCLCloud& cloud) const;
 
    bool getVtkPolyDataFromMeshCloud(
            ccGenericMesh* mesh, vtkSmartPointer<vtkPolyData>& polydata) const;
 
    bool getVtkPolyDataWithTextures(
            ccGenericMesh* mesh,
            vtkSmartPointer<vtkPolyData>& polydata,
            vtkSmartPointer<vtkMatrix4x4>& transformation,
            std::vector<std::vector<Eigen::Vector2f>>& tex_coordinates);
 
    static std::string GetSimplifiedSFName(const std::string& ccSfName);
 
    static void ConVertToPCLMaterial(ccMaterial::CShared inMaterial,
                                     PCLMaterial& outMaterial);
 
protected:
    bool checkIfFieldExists(const std::string& field_name) const;
 
    const ccPointCloud* m_cc_cloud;
    bool m_showMode;
    bool m_partialVisibility;
    unsigned m_visibilityNum;
};