Save the mesh in ply and vtk file formats

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@8616 a9d63959-f2ad-4865-b262-bf0e56cfafb6

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h

@@ -171,6 +171,14 @@ namespace pcl
         void
         reset ();
 
+        /** \brief Saves the model mesh as ply file. */
+        void
+        savePly (const std::string& file);
+
+        /** \brief Saves the model mesh as vtk file. */
+        void
+        saveVtk (const std::string& file);
+
         /** \see http://doc.qt.digia.com/qt/qwidget.html#keyPressEvent */
         void
         keyPressEvent (QKeyEvent* event);

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h

@@ -85,8 +85,8 @@ namespace pcl
 
       public slots:
 
-        // Help
         void showHelp ();
+        void saveAs ();
 
         // In hand scanner
         void runningModeChanged (const RunningMode mode);

apps/in_hand_scanner/src/in_hand_scanner.cpp

@@ -49,7 +49,10 @@
 #include <pcl/common/time.h>
 #include <pcl/common/transforms.h>
 #include <pcl/io/openni_grabber.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/io/vtk_io.h>
 #include <pcl/geometry/get_boundary.h>
+#include <pcl/geometry/mesh_conversion.h>
 #include <pcl/apps/in_hand_scanner/icp.h>
 #include <pcl/apps/in_hand_scanner/input_data_processing.h>
 #include <pcl/apps/in_hand_scanner/integration.h>
@@ -234,6 +237,36 @@ pcl::ihs::InHandScanner::reset ()
 
 ////////////////////////////////////////////////////////////////////////////////
 
+void
+pcl::ihs::InHandScanner::savePly (const std::string& file)
+{
+  boost::mutex::scoped_lock lock (mutex_);
+  if (destructor_called_) return;
+
+  pcl::PolygonMesh pm;
+  pcl::geometry::MeshConversion converter;
+  converter.toFaceVertexMesh (*mesh_model_, pm);
+
+  pcl::io::savePLYFile (file, pm);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+void
+pcl::ihs::InHandScanner::saveVtk (const std::string& file)
+{
+  boost::mutex::scoped_lock lock (mutex_);
+  if (destructor_called_) return;
+
+  pcl::PolygonMesh pm;
+  pcl::geometry::MeshConversion converter;
+  converter.toFaceVertexMesh (*mesh_model_, pm);
+
+  pcl::io::saveVTKFile (file, pm);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
 void
 pcl::ihs::InHandScanner::keyPressEvent (QKeyEvent* event)
 {

apps/in_hand_scanner/src/main_window.cpp

@@ -43,11 +43,12 @@
 
 #include <limits>
 
-#include <QHBoxLayout>
 #include <QDoubleValidator>
+#include <QFileDialog>
+#include <QHBoxLayout>
+#include <QMessageBox>
 #include <QString>
 #include <QTimer>
-#include <QMessageBox>
 
 #include <pcl/apps/in_hand_scanner/help_window.h>
 #include <pcl/apps/in_hand_scanner/in_hand_scanner.h>
@@ -90,6 +91,8 @@ pcl::ihs::MainWindow::MainWindow (QWidget* parent)
   connect (ui_->actionToggle_coloring,     SIGNAL (triggered ()), ihs_, SLOT (toggleColoring ()));
   connect (ui_->actionMesh_representation, SIGNAL (triggered ()), ihs_, SLOT (toggleMeshRepresentation ()));
 
+  connect (ui_->actionSaveAs, SIGNAL (triggered ()), this, SLOT (saveAs ()));
+
   connect (ihs_, SIGNAL (runningModeChanged (RunningMode)), this, SLOT (runningModeChanged (RunningMode)));
 
   // Input data processing
@@ -156,6 +159,19 @@ pcl::ihs::MainWindow::showHelp ()
 
 ////////////////////////////////////////////////////////////////////////////////
 
+void
+pcl::ihs::MainWindow::saveAs ()
+{
+  QString filename = QFileDialog::getSaveFileName (this, "Save the model mesh.", "", "Polygon File Format (*.ply);;VTK File Format (*.vtk)");
+
+  if (filename.isEmpty ()) return;
+
+  if      (filename.endsWith ("ply", Qt::CaseInsensitive)) ihs_->savePly (filename.toStdString ());
+  else if (filename.endsWith ("vtk", Qt::CaseInsensitive)) ihs_->saveVtk (filename.toStdString ());
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
 void
 pcl::ihs::MainWindow::runningModeChanged (const RunningMode mode)
 {

apps/in_hand_scanner/src/main_window.ui

@@ -206,7 +206,7 @@
           <x>0</x>
           <y>0</y>
           <width>300</width>
-          <height>423</height>
+          <height>408</height>
          </rect>
         </property>
         <attribute name="label">
@@ -580,7 +580,7 @@
           <x>0</x>
           <y>0</y>
           <width>300</width>
-          <height>423</height>
+          <height>401</height>
          </rect>
         </property>
         <attribute name="label">
@@ -720,7 +720,7 @@
           <x>0</x>
           <y>0</y>
           <width>300</width>
-          <height>423</height>
+          <height>401</height>
          </rect>
         </property>
         <attribute name="label">
@@ -838,6 +838,23 @@
    <addaction name="actionMesh_representation"/>
    <addaction name="actionHelp"/>
   </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1008</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFile">
+    <property name="title">
+     <string>File</string>
+    </property>
+    <addaction name="actionSaveAs"/>
+   </widget>
+   <addaction name="menuFile"/>
+  </widget>
   <action name="actionHelp">
    <property name="text">
     <string>Help</string>
@@ -867,6 +884,14 @@
     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Toggle the display of the mesh (Shortcut: s):&lt;/p&gt;&lt;p&gt;- Points&lt;/p&gt;&lt;p&gt;- Wireframe&lt;/p&gt;&lt;p&gt;- Closed surface&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
    </property>
   </action>
+  <action name="actionSaveAs">
+   <property name="text">
+    <string>Save As ...</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+S</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <tabstops>

geometry/include/pcl/geometry/mesh_conversion.h

@@ -67,7 +67,7 @@ namespace pcl
         toFaceVertexMesh (const HalfEdgeMeshT& half_edge_mesh, pcl::PolygonMesh& face_vertex_mesh)
         {
           typedef HalfEdgeMeshT HalfEdgeMesh;
-          typedef typename HalfEdgeMeshT::VertexAroundFaceCirculator VAFC;
+          typedef typename HalfEdgeMesh::VertexAroundFaceCirculator VAFC;
           typedef typename HalfEdgeMesh::FaceIndex FaceIndex;
 
           pcl::Vertices polygon;