BoctreeIO.hpp

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#ifndef BOCTREEIO_HPP_
#define BOCTREEIO_HPP_
 
#include "lvr2/io/BaseIO.hpp"
 
#include "lvr2/geometry/BaseVector.hpp"
#include "lvr2/geometry/Matrix4.hpp"
 
#include <boost/filesystem.hpp>
 
#include "slam6d/scan_io_oct.h"
 
 
namespace lvr2
{
 
using Vec = BaseVector<float>;
 
class BoctreeIO : public BaseIO
{
 
 
public:
 
    BoctreeIO();
    virtual ~BoctreeIO();
 
    virtual ModelPtr read(string filename );
 
 
    virtual void save( string filename );
 
private:
    Matrix4<Vec> parseFrameFile(ifstream& frameFile);
};
 
} /* namespace lvr2 */
 
#endif /* BOCTREEIO_HPP_ */