CC to PCL cloud converter. More...

#include <cc2sm.h>

Collaboration diagram for cc2smReader:

[legend]

Public Types
enum	Fields { COORD_X , COORD_Y , COORD_Z , NORM_X , NORM_Y , NORM_Z }

Public Member Functions
	cc2smReader (bool showMode=false)

	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
	Obtain the actual color for the input dataset as vtk scalars. More...

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
	Converts all the data in a ccPointCloud to a sesor_msgs::PointCloud2. More...

PCLCloud::Ptr	getAsSM (bool xyz, bool normals, bool rgbColors, const QStringList &scalarFields) const

pcl::PointCloud< pcl::PointXYZ >::Ptr	getRawXYZ () const
	Converts the ccPointCloud to a 'pcl::PointXYZ' cloud. More...

pcl::PointCloud< pcl::PointNormal >::Ptr	getAsPointNormal () const
	Converts the ccPointCloud to a 'pcl::PointNormal' cloud. More...

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
	Convert ccGenericMesh to vtkPolyData using same logic as getPclCloud2 Direct conversion without PCL intermediate format for efficiency. More...

bool	getVtkPolyDataWithTextures (ccGenericMesh *mesh, vtkSmartPointer< vtkPolyData > &polydata, vtkSmartPointer< vtkMatrix4x4 > &transformation, std::vector< std::vector< Eigen::Vector2f >> &tex_coordinates)
	Convert ccGenericMesh to vtkPolyData with texture coordinates Reuses getPclTextureMesh logic to ensure consistency. More...

Static Public Member Functions
static std::string	GetSimplifiedSFName (const std::string &ccSfName)

static void	ConVertToPCLMaterial (ccMaterial::CShared inMaterial, PCLMaterial &outMaterial)

Protected Member Functions
bool	checkIfFieldExists (const std::string &field_name) const

Protected Attributes
const ccPointCloud *	m_cc_cloud
	Associated cloud. More...

bool	m_showMode

bool	m_partialVisibility

unsigned	m_visibilityNum

Detailed Description

CC to PCL cloud converter.

Definition at line 43 of file cc2sm.h.

Member Enumeration Documentation

◆ Fields

enum cc2smReader::Fields

Enumerator
COORD_X
COORD_Y
COORD_Z
NORM_X
NORM_Y
NORM_Z

Definition at line 63 of file cc2sm.h.

Constructor & Destructor Documentation

◆ cc2smReader() [1/2]

cc2smReader::cc2smReader ( bool showMode = false )

explicit

Definition at line 54 of file cc2sm.cpp.

◆ cc2smReader() [2/2]

cc2smReader::cc2smReader	(	const ccPointCloud *	cc_cloud,
		bool	showMode = `false`
	)

explicit

Definition at line 60 of file cc2sm.cpp.

References count, ccGenericPointCloud::getTheVisibilityArray(), ccGenericPointCloud::isVisibilityTableInstantiated(), m_cc_cloud, m_partialVisibility, m_visibilityNum, POINT_VISIBLE, and cloudViewer::PointCloudTpl< T >::size().

Member Function Documentation

◆ checkIfFieldExists()

bool cc2smReader::checkIfFieldExists ( const std::string & field_name ) const

protected

Definition at line 591 of file cc2sm.cpp.

References cloudViewer::PointCloudTpl< T >::getScalarFieldIndexByName(), ccPointCloud::hasColors(), ccPointCloud::hasNormals(), m_cc_cloud, and cloudViewer::PointCloudTpl< T >::size().

Referenced by getAsSM().

◆ ConVertToPCLMaterial()

void cc2smReader::ConVertToPCLMaterial	(	ccMaterial::CShared	inMaterial,
		PCLMaterial &	outMaterial
	)

static

Definition at line 438 of file cc2sm.cpp.

References ecvColor::RgbaTpl< Type >::a, ecvColor::RgbaTpl< Type >::b, CVTools::ExtractDigitAlpha(), CVTools::FromQString(), ecvColor::RgbaTpl< Type >::g, CVLog::PrintDebug(), ecvColor::RgbaTpl< Type >::r, and patch::to_string().

Referenced by getPclTextureMesh().

◆ getAsPointNormal()

pcl::PointCloud< pcl::PointNormal >::Ptr cc2smReader::getAsPointNormal ( ) const

Converts the ccPointCloud to a 'pcl::PointNormal' cloud.

Definition at line 787 of file cc2sm.cpp.

References ccPointCloud::getNormal(), cloudViewer::PointCloudTpl< T >::getPoint(), ccPointCloud::hasNormals(), m_cc_cloud, cloudViewer::PointCloudTpl< T >::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ComputeFeatures().

◆ getAsSM() [1/3]

PCLCloud::Ptr cc2smReader::getAsSM ( bool ignoreScalars = false ) const

Converts all the data in a ccPointCloud to a sesor_msgs::PointCloud2.

This is useful for saving a ccPointCloud into a PCD file. For pcl filters other methods are suggested (to get only the necessary bits of data)

Definition at line 684 of file cc2sm.cpp.

References fields, getAsSM(), cloudViewer::ScalarField::getName(), cloudViewer::PointCloudTpl< T >::getNumberOfScalarFields(), cloudViewer::PointCloudTpl< T >::getScalarField(), ccPointCloud::hasColors(), ccPointCloud::hasNormals(), m_cc_cloud, and cloudViewer::PointCloudTpl< T >::size().

◆ getAsSM() [2/3]

PCLCloud::Ptr cc2smReader::getAsSM	(	bool	xyz,
		bool	normals,
		bool	rgbColors,
		const QStringList &	scalarFields
	)		const

Definition at line 733 of file cc2sm.cpp.

References getColors(), getFloatScalarField(), getNormals(), getXYZ(), ccPointCloud::hasColors(), ccPointCloud::hasNormals(), m_cc_cloud, normals, SetOrAdd(), and cloudViewer::PointCloudTpl< T >::size().

◆ getAsSM() [3/3]

PCLCloud::Ptr cc2smReader::getAsSM ( std::list< std::string > & requested_fields ) const

Definition at line 607 of file cc2sm.cpp.

References checkIfFieldExists(), and getGenericField().

Referenced by ExtractSIFT::compute(), GeneralFilters::compute(), MLSSmoothingUpsampling::compute(), StatisticalOutliersRemover::compute(), MinimumCutSegmentation::compute(), RegionGrowingSegmentation::compute(), GreedyTriangulation::compute(), MarchingCubeReconstruction::compute(), PoissonReconstruction::compute(), getAsSM(), PcdFilter::saveToFile(), and PclAnnotationTool::setInputCloud().

◆ getColors()

PCLCloud::Ptr cc2smReader::getColors ( ) const

Definition at line 320 of file cc2sm.cpp.

References ccPointCloud::getPointColor(), ccGenericPointCloud::getTheVisibilityArray(), ccPointCloud::hasColors(), m_cc_cloud, m_partialVisibility, m_visibilityNum, POINT_VISIBLE, ecvColor::RgbTpl< Type >::r, rgb, cloudViewer::PointCloudTpl< T >::size(), and TO_PCL_CLOUD.

Referenced by getAsSM(), and getGenericField().

◆ getFloatScalarField()

PCLCloud::Ptr cc2smReader::getFloatScalarField ( const std::string & field_name ) const

◆ getGenericField()

PCLCloud::Ptr cc2smReader::getGenericField ( std::string field_name ) const

Definition at line 82 of file cc2sm.cpp.

References COORD_X, COORD_Y, getColors(), getFloatScalarField(), getNormals(), getOneOf(), getXYZ(), NORM_X, NORM_Y, and NORM_Z.

Referenced by getAsSM().

◆ getNormals()

PCLCloud::Ptr cc2smReader::getNormals ( ) const

Definition at line 266 of file cc2sm.cpp.

References ccPointCloud::getPointNormal(), ccGenericPointCloud::getTheVisibilityArray(), ccPointCloud::hasNormals(), m_cc_cloud, m_partialVisibility, m_visibilityNum, POINT_VISIBLE, cloudViewer::PointCloudTpl< T >::size(), TO_PCL_CLOUD, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ProjectionFilter::compute(), getAsSM(), getGenericField(), and getPointNormals().

◆ getOneOf()

PCLCloud::Ptr cc2smReader::getOneOf ( Fields field ) const

Definition at line 115 of file cc2sm.cpp.

References COORD_X, COORD_Y, COORD_Z, cloudViewer::PointCloudTpl< T >::getPoint(), ccPointCloud::getPointNormal(), ccGenericPointCloud::getTheVisibilityArray(), ccPointCloud::hasNormals(), m_cc_cloud, m_partialVisibility, m_visibilityNum, name, NORM_X, NORM_Y, NORM_Z, POINT_VISIBLE, cloudViewer::PointCloudTpl< T >::size(), TO_PCL_CLOUD, and Tuple3Tpl< Type >::u.

Referenced by getGenericField().

◆ getPclCloud2()

bool cc2smReader::getPclCloud2	(	ccGenericMesh *	mesh,
		PCLCloud &	cloud
	)		const

Definition at line 933 of file cc2sm.cpp.

References ccDrawableObject::colorsShown(), ccGenericMesh::getAssociatedCloud(), ccPointCloud::getCurrentDisplayedScalarField(), cloudViewer::VerticesIndexes::getDimension(), ccGenericMesh::getMaterialSet(), ccNormalVectors::GetNormal(), ccNormalVectors::getNormal(), cloudViewer::PointCloudTpl< T >::getPoint(), ccGenericPointCloud::getTheVisibilityArray(), ccGenericMesh::getTriangleNormalIndexes(), cloudViewer::GenericIndexedMesh::getTriangleVertIndexes(), ccGenericMesh::getTriNormsTable(), ccNormalVectors::GetUniqueInstance(), ccScalarField::getValueColor(), ccDrawableObject::hasColors(), ccDrawableObject::hasDisplayedScalarField(), ccDrawableObject::hasNormals(), ccGenericMesh::hasTriNormals(), cloudViewer::VerticesIndexes::i, cloudViewer::VerticesIndexes::i1, cloudViewer::VerticesIndexes::i2, cloudViewer::VerticesIndexes::i3, m_cc_cloud, ccPointCloud::normals(), ccDrawableObject::normalsShown(), POINT_VISIBLE, ecvColor::RgbTpl< Type >::r, rgb, ccPointCloud::rgbColors(), ccDrawableObject::sfShown(), cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), TO_PCL_CLOUD, ccGenericMesh::triNormsShown(), Tuple3Tpl< Type >::u, CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by getPclMesh(), and getPclTextureMesh().

◆ getPclMesh()

PCLMesh::Ptr cc2smReader::getPclMesh ( ccGenericMesh * mesh )

Definition at line 894 of file cc2sm.cpp.

References ccGenericMesh::getAssociatedCloud(), getPclCloud2(), ccGenericPointCloud::getTheVisibilityArray(), cloudViewer::GenericIndexedMesh::getTriangleVertIndexes(), cloudViewer::VerticesIndexes::i1, cloudViewer::VerticesIndexes::i2, cloudViewer::VerticesIndexes::i3, POINT_VISIBLE, cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), and CVLog::Warning().

◆ getPclPolygon()

PCLPolygon::Ptr cc2smReader::getPclPolygon ( ccPolyline * polyline ) const

Definition at line 1538 of file cc2sm.cpp.

References Vector3Tpl< double >::fromArray(), cloudViewer::ReferenceCloud::getPoint(), ccPolyline::is2DMode(), cloudViewer::ReferenceCloud::size(), ecvDisplayTools::TheInstance(), ecvGenericDisplayTools::toWorldPoint(), Tuple3Tpl< Type >::u, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getPclTextureMesh()

PCLTextureMesh::Ptr cc2smReader::getPclTextureMesh ( ccGenericMesh * mesh )

◆ getPointNormals()

PCLCloud::Ptr cc2smReader::getPointNormals ( ) const

Definition at line 307 of file cc2sm.cpp.

References getNormals(), getXYZ(), and normals.

◆ getRawXYZ()

pcl::PointCloud< pcl::PointXYZ >::Ptr cc2smReader::getRawXYZ ( ) const

Converts the ccPointCloud to a 'pcl::PointXYZ' cloud.

Definition at line 824 of file cc2sm.cpp.

References cloudViewer::PointCloudTpl< T >::getPoint(), m_cc_cloud, cloudViewer::PointCloudTpl< T >::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ GetSimplifiedSFName()

std::string cc2smReader::GetSimplifiedSFName ( const std::string & ccSfName )

static

Definition at line 432 of file cc2sm.cpp.

Referenced by MLSSmoothingUpsampling::compute(), and getFloatScalarField().

◆ getvisibilityNum()

unsigned cc2smReader::getvisibilityNum ( ) const

Definition at line 111 of file cc2sm.cpp.

References m_cc_cloud, m_partialVisibility, m_visibilityNum, and cloudViewer::PointCloudTpl< T >::size().

Referenced by PCLDisplayTools::checkEntityNeedUpdate().

◆ getVtkPolyDataAsPclMesh()

PCLMesh::Ptr cc2smReader::getVtkPolyDataAsPclMesh ( vtkPolyData *const polydata ) const

Definition at line 882 of file cc2sm.cpp.

◆ getVtkPolyDataAsSM()

PCLCloud::Ptr cc2smReader::getVtkPolyDataAsSM ( vtkPolyData *const polydata ) const

Definition at line 849 of file cc2sm.cpp.

References colors, normals, and TO_PCL_CLOUD.

◆ getVtkPolyDataFromMeshCloud()

bool cc2smReader::getVtkPolyDataFromMeshCloud	(	ccGenericMesh *	mesh,
		vtkSmartPointer< vtkPolyData > &	polydata
	)		const

Convert ccGenericMesh to vtkPolyData using same logic as getPclCloud2 Direct conversion without PCL intermediate format for efficiency.

Parameters

mesh	Input mesh
polydata	Output VTK polydata (will be created)

Returns: true on success

Note: This method uses the same point indexing as getPclCloud2: pointIndex = n * dimension + vertexIndex This ensures consistency with getPclTextureMesh

Definition at line 1121 of file cc2sm.cpp.

References colors, ccDrawableObject::colorsShown(), ccGenericMesh::getAssociatedCloud(), ccPointCloud::getCurrentDisplayedScalarField(), ccPointCloud::getCurrentDisplayedScalarFieldIndex(), cloudViewer::VerticesIndexes::getDimension(), ccObject::getName(), ccNormalVectors::GetNormal(), ccNormalVectors::getNormal(), cloudViewer::PointCloudTpl< T >::getPoint(), cloudViewer::PointCloudTpl< T >::getScalarFieldName(), ccGenericPointCloud::getTheVisibilityArray(), ccGenericMesh::getTriangleNormalIndexes(), cloudViewer::GenericIndexedMesh::getTriangleVertIndexes(), ccGenericMesh::getTriNormsTable(), ccNormalVectors::GetUniqueInstance(), ccScalarField::getValueColor(), ccDrawableObject::hasColors(), ccDrawableObject::hasDisplayedScalarField(), ccDrawableObject::hasNormals(), ccGenericMesh::hasTriNormals(), cloudViewer::VerticesIndexes::i, cloudViewer::VerticesIndexes::i1, cloudViewer::VerticesIndexes::i2, cloudViewer::VerticesIndexes::i3, m_cc_cloud, ccPointCloud::normals(), normals, ccDrawableObject::normalsShown(), POINT_VISIBLE, CVLog::PrintDebug(), rgb, ccPointCloud::rgbColors(), ccDrawableObject::sfShown(), cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), ccHObjectCaster::ToPointCloud(), ccGenericMesh::triNormsShown(), Tuple3Tpl< Type >::u, CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by getVtkPolyDataWithTextures().

◆ getVtkPolyDataWithTextures()

bool cc2smReader::getVtkPolyDataWithTextures	(	ccGenericMesh *	mesh,
		vtkSmartPointer< vtkPolyData > &	polydata,
		vtkSmartPointer< vtkMatrix4x4 > &	transformation,
		std::vector< std::vector< Eigen::Vector2f >> &	tex_coordinates
	)

Convert ccGenericMesh to vtkPolyData with texture coordinates Reuses getPclTextureMesh logic to ensure consistency.

Parameters

mesh	Input mesh
polydata	Output VTK polydata (will be created)
transformation	Output transformation matrix (will be created)
tex_coordinates	Output texture coordinates grouped by material index

Returns: true on success

Note: This method reuses getPclTextureMesh logic to ensure texture coordinate mapping is consistent with addTextureMesh interface

Definition at line 1566 of file cc2sm.cpp.

References ccGenericMesh::getAssociatedCloud(), cloudViewer::VerticesIndexes::getDimension(), ccGenericMesh::getMaterialSet(), ccObject::getMetaData(), ccObject::getName(), ccGenericPointCloud::getTheVisibilityArray(), ccGenericMesh::getTriangleMtlIndex(), ccGenericMesh::getTriangleTexCoordinates(), cloudViewer::GenericIndexedMesh::getTriangleVertIndexes(), getVtkPolyDataFromMeshCloud(), ccGenericMesh::hasMaterials(), ccGenericMesh::hasTextures(), cloudViewer::VerticesIndexes::i1, cloudViewer::VerticesIndexes::i2, cloudViewer::VerticesIndexes::i3, ccGenericMesh::materialsShown(), POINT_VISIBLE, cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), TexCoords2D::tx, TexCoords2D::ty, and CVLog::Warning().

Referenced by PclUtils::PCLVis::addTextureMeshFromCCMesh(), and PclUtils::renders::MeshTextureApplier::ApplyTexturesFromCCMesh().

◆ getvtkScalars()

bool cc2smReader::getvtkScalars	(	vtkSmartPointer< vtkDataArray > &	scalars,
		bool	sfColors
	)		const

Obtain the actual color for the input dataset as vtk scalars.

Parameters

[out] scalars the output scalars containing the color for the dataset

Returns: true if the operation was successful (the handler is capable and the input cloud was given as a valid pointer), false otherwise

Definition at line 366 of file cc2sm.cpp.

References colors, ccPointCloud::getCurrentDisplayedScalarFieldIndex(), ccPointCloud::getPointColor(), cloudViewer::PointCloudTpl< T >::getScalarField(), ccPointCloud::getScalarValueColor(), ccGenericPointCloud::getTheVisibilityArray(), cloudViewer::ScalarField::getValue(), ccPointCloud::hasColors(), ccPointCloud::hasScalarFields(), m_cc_cloud, m_partialVisibility, m_visibilityNum, POINT_VISIBLE, rgb, and cloudViewer::PointCloudTpl< T >::size().

◆ getXYZ()

PCLCloud::Ptr cc2smReader::getXYZ ( ) const

Definition at line 254 of file cc2sm.cpp.

References getXYZ2(), and TO_PCL_CLOUD.

Referenced by getAsSM(), getGenericField(), and getPointNormals().

◆ getXYZ2()

PointCloud< PointXYZ >::Ptr cc2smReader::getXYZ2 ( ) const

Member Data Documentation

◆ m_cc_cloud

const ccPointCloud* cc2smReader::m_cc_cloud

protected

Associated cloud.

Definition at line 138 of file cc2sm.h.

Referenced by cc2smReader(), checkIfFieldExists(), getAsPointNormal(), getAsSM(), getColors(), getFloatScalarField(), getNormals(), getOneOf(), getPclCloud2(), getRawXYZ(), getvisibilityNum(), getVtkPolyDataFromMeshCloud(), getvtkScalars(), and getXYZ2().

◆ m_partialVisibility

bool cc2smReader::m_partialVisibility

protected

Definition at line 140 of file cc2sm.h.

Referenced by cc2smReader(), getColors(), getFloatScalarField(), getNormals(), getOneOf(), getvisibilityNum(), getvtkScalars(), and getXYZ2().

◆ m_showMode

bool cc2smReader::m_showMode

protected

Definition at line 139 of file cc2sm.h.

Referenced by getFloatScalarField().

◆ m_visibilityNum

unsigned cc2smReader::m_visibilityNum

protected

Definition at line 141 of file cc2sm.h.

Referenced by cc2smReader(), getColors(), getFloatScalarField(), getNormals(), getOneOf(), getvisibilityNum(), getvtkScalars(), and getXYZ2().

The documentation for this class was generated from the following files:

/root/ACloudViewer/libs/PCLEngine/Utils/cc2sm.h
/root/ACloudViewer/libs/PCLEngine/Utils/cc2sm.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Fields

Constructor & Destructor Documentation

◆ cc2smReader() [1/2]

◆ cc2smReader() [2/2]

Member Function Documentation

◆ checkIfFieldExists()

◆ ConVertToPCLMaterial()

◆ getAsPointNormal()

◆ getAsSM() [1/3]

◆ getAsSM() [2/3]

◆ getAsSM() [3/3]

◆ getColors()

◆ getFloatScalarField()

◆ getGenericField()

◆ getNormals()

◆ getOneOf()

◆ getPclCloud2()

◆ getPclMesh()

◆ getPclPolygon()

◆ getPclTextureMesh()

◆ getPointNormals()

◆ getRawXYZ()

◆ GetSimplifiedSFName()

◆ getvisibilityNum()

◆ getVtkPolyDataAsPclMesh()

◆ getVtkPolyDataAsSM()

◆ getVtkPolyDataFromMeshCloud()

◆ getVtkPolyDataWithTextures()

◆ getvtkScalars()

◆ getXYZ()

◆ getXYZ2()

Member Data Documentation

◆ m_cc_cloud

◆ m_partialVisibility

◆ m_showMode

◆ m_visibilityNum