IO.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
 * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
 * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
 * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 */

#ifndef __POINTMATCHER_IO_H
#define __POINTMATCHER_IO_H

#include "PointMatcher.h"

template<typename T>
struct PointMatcherIO
{
        typedef typename PointMatcher<T>::Vector Vector; 
        typedef typename PointMatcher<T>::Matrix Matrix; 
        typedef typename PointMatcher<T>::Int64Matrix Int64Matrix; 
        typedef typename PointMatcher<T>::DataPoints DataPoints; 
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters; 
        typedef typename PointMatcher<T>::Matrix Parameters; 
        typedef typename PointMatcher<T>::DataPoints::Label Label; 
        typedef typename PointMatcher<T>::DataPoints::Labels Labels; 

        typedef std::pair<int, std::string >LabelAssociationPair;

        typedef std::map<std::string, LabelAssociationPair > SublabelAssociationMap;
        
        static std::string getColLabel(const Label& label, const int row); 
        
        enum PMPropTypes
                {
                        FEATURE,
                        DESCRIPTOR,
                        TIME,
                        UNSUPPORTED
                };

        struct SupportedLabel
        {
                std::string internalName; 
                std::string externalName; 
                PMPropTypes type; 

                SupportedLabel(const std::string& internalName, const std::string& externalName, const PMPropTypes& type);
        };

        typedef std::vector<SupportedLabel> SupportedLabels;

        struct GenericInputHeader
        {
                std::string name; 
                unsigned int matrixRowId; 
                PMPropTypes matrixType; 

                //TODO: move that to .cpp
                GenericInputHeader(const std::string name)
                {
                        init(name);
                };

                GenericInputHeader()
                {
                        init("");
                };

                private:
                void init(std::string name)
                {
                        this->name = name;
                        this->matrixRowId = 0;
                        this->matrixType = UNSUPPORTED;
                };
        };

        static const SupportedLabels & getSupportedExternalLabels()
        {
                // This table can be read as:
                //   (internalName, externalName, type)
                const static SupportedLabels labels = {
                                {"x", "x", FEATURE},
                                {"y", "y", FEATURE},
                                {"z", "z", FEATURE},
                                {"pad", "pad", FEATURE},
                                //{"internalName", "externalName", FEATURE},
                                {"normals", "nx", DESCRIPTOR},
                                {"normals", "ny", DESCRIPTOR},
                                {"normals", "nz", DESCRIPTOR},
                                {"normals", "normal_x", DESCRIPTOR},
                                {"normals", "normal_y", DESCRIPTOR},
                                {"normals", "normal_z", DESCRIPTOR},
                                {"observationDirections", "observationDirections0", DESCRIPTOR},
                                {"observationDirections", "observationDirections1", DESCRIPTOR},
                                {"observationDirections", "observationDirections2", DESCRIPTOR},
                                {"color", "red", DESCRIPTOR},
                                {"color", "green", DESCRIPTOR},
                                {"color", "blue", DESCRIPTOR},
                                {"color", "alpha", DESCRIPTOR},
                                {"eigValues", "eigValues0", DESCRIPTOR},
                                {"eigValues", "eigValues1", DESCRIPTOR},
                                {"eigValues", "eigValues2", DESCRIPTOR},
                                {"eigVectors", "eigVectors0X", DESCRIPTOR},
                                {"eigVectors", "eigVectors0Y", DESCRIPTOR},
                                {"eigVectors", "eigVectors0Z", DESCRIPTOR},
                                {"eigVectors", "eigVectors1X", DESCRIPTOR},
                                {"eigVectors", "eigVectors1Y", DESCRIPTOR},
                                {"eigVectors", "eigVectors1Z", DESCRIPTOR},
                                {"eigVectors", "eigVectors2X", DESCRIPTOR},
                                {"eigVectors", "eigVectors2Y", DESCRIPTOR},
                                {"eigVectors", "eigVectors2Z", DESCRIPTOR},
                                {"intensity", "intensity", DESCRIPTOR},
                                //{"internalName", "externalName", DESCRIPTOR},
                                {"time", "time", TIME}
                                //{"internalName", "externalName", TIME}
                        };

                        return labels;
        }

        class LabelGenerator
        {
                Labels labels; 

        public:
                void add(const std::string internalName);

                void add(const std::string internalName, const unsigned int dim);


                Labels getLabels() const;
        };


        //static PMPropTypes getPMType(const std::string& externalName); //! Return the type of information specific to a DataPoints based on a sulabel name

        // CSV
        static DataPoints loadCSV(const std::string& fileName);
        static DataPoints loadCSV(std::istream& is);

        static void saveCSV(const DataPoints& data, const std::string& fileName);
        static void saveCSV(const DataPoints& data, std::ostream& os);

        // VTK
        enum SupportedVTKDataTypes
        {
                POLYDATA,
                UNSTRUCTURED_GRID
        };

        struct SplitTime
        {
                bool isHigh32Found;
                bool isLow32Found;

                Eigen::Matrix<unsigned int, Eigen::Dynamic, Eigen::Dynamic> high32;
                Eigen::Matrix<unsigned int, Eigen::Dynamic, Eigen::Dynamic> low32;

                SplitTime(): isHigh32Found(false), isLow32Found(false){};

        };

        static DataPoints loadVTK(const std::string& fileName);
        static DataPoints loadVTK(std::istream& is);

        static void saveVTK(const DataPoints& data, const std::string& fileName, bool binary = false);

        // PLY
        static DataPoints loadPLY(const std::string& fileName);
        static DataPoints loadPLY(std::istream& is);

        static void savePLY(const DataPoints& data, const std::string& fileName); 

        // PCD
        static DataPoints loadPCD(const std::string& fileName);
        static DataPoints loadPCD(std::istream& is);

        static void savePCD(const DataPoints& data, const std::string& fileName); 

        struct FileInfo
        {
                typedef Eigen::Matrix<T, 3, 1> Vector3; 

                std::string readingFileName; 
                std::string referenceFileName; 
                std::string configFileName; 
                TransformationParameters initialTransformation; 
                TransformationParameters groundTruthTransformation; 
                Vector3 gravity; 

                FileInfo(const std::string& readingPath="", const std::string& referencePath="", const std::string& configFileName="", const TransformationParameters& initialTransformation=TransformationParameters(), const TransformationParameters& groundTruthTransformation=TransformationParameters(),  const Vector& gravity=Vector3::Zero());
        };

        struct FileInfoVector: public std::vector<FileInfo>
        {
                FileInfoVector();
                FileInfoVector(const std::string& fileName, std::string dataPath = "", std::string configPath = "");

        protected:
                std::string localToGlobalFileName(const std::string& path, const std::string& fileName);
                bool findTransform(const PointMatcherSupport::CsvElements& data, const std::string& prefix, unsigned dim);
                TransformationParameters getTransform(const PointMatcherSupport::CsvElements& data, const std::string& prefix, unsigned dim, unsigned line);
        };

        struct CsvDescriptor {
                std::string name; 
                unsigned        start_col; 
                unsigned        span; 
        };

        static bool plyPropTypeValid (const std::string& type);

        struct PLYProperty
        {
                //PLY information:
                std::string name; 
                std::string type; 
                std::string idx_type; 
                unsigned pos; 
                bool is_list; 
                
                //PointMatcher information:
                PMPropTypes pmType; 
                int pmRowID; 

                PLYProperty() { } 

                // regular property
                PLYProperty(const std::string& type, const std::string& name, const unsigned pos);

                // list property
                PLYProperty(const std::string& idx_type, const std::string& type, const std::string& name, const unsigned pos); 

                bool operator==(const PLYProperty& other) const; 
        };

        typedef std::map<std::string, std::vector<PLYProperty> > PLYDescPropMap;
        
        typedef std::vector<PLYProperty> PLYProperties;

        typedef typename PLYProperties::iterator it_PLYProp;

        class PLYElement
        {
        public:
                std::string name; 
                unsigned num; 
                unsigned total_props; 
                unsigned offset; 
                PLYProperties properties; 
                unsigned nbFeatures; 
                unsigned nbDescriptors; 



                PLYElement(const std::string& name, const unsigned num, const unsigned offset) :
                        name(name), num(num), total_props(0), offset(offset), nbFeatures(0), nbDescriptors(0) {}

                //bool supportsProperty(const PLYProperty& prop) const; //!< Returns true if property pro is supported by element

                bool operator==(const PLYElement& other) const; 

        };


        class PLYVertex : public PLYElement
        {
        public:

                PLYVertex(const unsigned num, const unsigned offset) : PLYElement("vertex", num, offset) {}

        };

        class PLYElementF
        {
                enum ElementTypes
                {
                        VERTEX,
                        UNSUPPORTED
                };

                static ElementTypes getElementType(const std::string& elem_name);
        public:
                bool elementSupported(const std::string& elem_name); 
                static PLYElement* createElement(const std::string& elem_name, const int elem_num, const unsigned offset); 
        };

        struct PCDproperty
        {
                std::string field; 
                unsigned int size; 
                char type; 
                unsigned int count; 
                
                //PointMatcher information:
                PMPropTypes pmType; 
                int pmRowID; 

                PCDproperty()
                {
                        field = "";
                        size = 0;
                        type = '-';
                        count = 1;
                        pmType = UNSUPPORTED;
                        pmRowID = -1;
                };
        };

        struct PCDheader
        {
                std::string version; 
                std::vector<PCDproperty> properties; 
                unsigned int width; 
                unsigned int height; 
                Eigen::Matrix<T, 7, 1> viewPoint;  
                unsigned int nbPoints; 
                std::string dataType; 

                PCDheader()
                {
                        version = "-";
                        width = 0;
                        height = 0;
                        viewPoint = Eigen::Matrix<T, 7, 1>::Zero();
                        nbPoints = 0;
                        dataType = "-";
                };
        };
};


#endif // __POINTMATCHER_IO_H