UosIO.hpp

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#ifndef UOSIO_H_
#define UOSIO_H_
 
#define _USE_MATH_DEFINES
 
#include <string>
#include <iomanip>
#include <iostream>
#include <math.h>
#include <fstream>
#include <sstream>
#include <vector>
 
#include "lvr2/io/BaseIO.hpp"
#include "lvr2/io/AsciiIO.hpp"
 
#include "lvr2/geometry/BaseVector.hpp"
#include "lvr2/geometry/Matrix4.hpp"
 
using std::string;
using std::fstream;
using std::stringstream;
 
namespace lvr2
{
 
using Vec = BaseVector<float>;
 
class UosIO : public BaseIO
{
 
public:
 
    UosIO() :
        m_firstScan(-1),
        m_lastScan(-1),
        m_saveToDisk(false),
        m_reductionTarget(0),
        m_numScans(0),
        m_saveRemission(false),
        m_saveRemissionColor(false){}
 
    ModelPtr read(string dir);
 
 
    void setFirstScan(int n) { m_firstScan = n;}
 
 
    void setLastScan(int n) {m_lastScan = n;}
 
 
    void reduce(string dir, string target, int reduction = 1);
 
 
    void save(string filename) {}
 
 
 
    void saveRemissionAsColor(bool convert) {m_saveRemissionColor = convert;}
 
 
    void saveRemission(bool yes) { m_saveRemission= yes;}
 
 
    Matrix4<Vec> parseFrameFile(ifstream& frameFile);
 
private:
 
    void readNewFormat(ModelPtr &m, string dir, int first, int last, size_t &n);
 
 
    void readOldFormat(ModelPtr &m, string dir, int first, int last, size_t &n);
 
 
    inline std::string to_string(const int& t, int width)
    {
      stringstream ss;
      ss << std::setfill('0') << std::setw(width) << t;
      return ss.str();
    }
 
 
    inline std::string to_string(const int& t)
    {
      stringstream ss;
      ss << t;
      return ss.str();
    }
 
 
    inline float rad(const float deg)
    {
                return (float)((2 * M_PI * deg) / 360);
    }
 
 
    inline float deg(const float rad)
    {
                return (float)((rad * 360) / (2 * M_PI));
    }
 
 
    int     m_firstScan;
 
    int     m_lastScan;
 
    bool    m_saveToDisk;
 
    ofstream    m_outputFile;
 
    int     m_numScans;
 
    int     m_reductionTarget;
 
    bool    m_saveRemissionColor;
 
    bool    m_saveRemission;
 
};
 
} // namespace lvr2
 
#endif /* UOSIO_H_ */