| 107 | //=========================================================================================================================================== |
| 108 | |
| 109 | bool vtk_to_pointcloud (const char* file_name, PointCloud<PointXYZ>& points_in, PointCloud<Normal>& normals_in, double b[6]) |
| 110 | { |
| 111 | std::size_t len = strlen (file_name); |
| 112 | if ( file_name[len-3] != 'v' || file_name[len-2] != 't' || file_name[len-1] != 'k' ) |
| 113 | { |
| 114 | fprintf (stderr, "ERROR: we need a .vtk object!\n"); |
| 115 | return false; |
| 116 | } |
| 117 | |
| 118 | // Load the model |
| 119 | vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New (); |
| 120 | reader->SetFileName (file_name); |
| 121 | reader->Update (); |
| 122 | |
| 123 | // Get the points |
| 124 | vtkPolyData *vtk_poly = reader->GetOutput (); |
| 125 | vtkPoints *vtk_points = vtk_poly->GetPoints (); |
| 126 | vtkIdType num_points = vtk_points->GetNumberOfPoints (); |
| 127 | double p[3]; |
| 128 | |
| 129 | vtk_poly->ComputeBounds (); |
| 130 | vtk_poly->GetBounds (b); |
| 131 | points_in.resize (num_points); |
| 132 | |
| 133 | // Copy the points |
| 134 | for ( vtkIdType i = 0 ; i < num_points ; ++i ) |
| 135 | { |
| 136 | vtk_points->GetPoint (i, p); |
| 137 | points_in[i].x = static_cast<float> (p[0]); |
| 138 | points_in[i].y = static_cast<float> (p[1]); |
| 139 | points_in[i].z = static_cast<float> (p[2]); |
| 140 | } |
| 141 | |
| 142 | // Check if we have normals |
| 143 | vtkDataArray *vtk_normals = vtk_poly->GetPointData ()->GetNormals (); |
| 144 | if ( vtk_normals ) |
| 145 | { |
| 146 | normals_in.resize (num_points); |
| 147 | // Copy the normals |
| 148 | for ( vtkIdType i = 0 ; i < num_points ; ++i ) |
| 149 | { |
| 150 | vtk_normals->GetTuple (i, p); |
| 151 | normals_in[i].normal_x = static_cast<float> (p[0]); |
| 152 | normals_in[i].normal_y = static_cast<float> (p[1]); |
| 153 | normals_in[i].normal_z = static_cast<float> (p[2]); |
| 154 | } |
| 155 | } |
| 156 | |
| 157 | return true; |
| 158 | } |
| 159 | |
| 160 | //=========================================================================================================================================== |
| 161 | |