re_visionmodelcreator.h

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#ifndef RE_VISIONMODELCREATOR_H
#define RE_VISIONMODELCREATOR_H

#include <vector>
#include <boost/shared_ptr.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <QDir>
#include <QString>

// Enable this define to estimate the normals and store them in ply files
// (can take a long time for bigger clouds)
//#define ESTIMATE_NORMALS

class re_visionModelCreator
{
public:
    re_visionModelCreator(const std::vector<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > >& pointclouds);

    void createModel(const QDir& parent_dir, const pcl::PointCloud<pcl::PointXYZRGB>& merged_pcl, const QString& modelname);

    static void saveAsPLY(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pcl, const QString& filename);
    static void createMetaFile(QDir model_dir, QString modelname, QString modeltype, size_t face_count, double scale);

protected:
    const std::vector<boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > >& pcls;
};

#endif // RE_VISIONMODELCREATOR_H