PDALWriter.h

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/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
namespace rtabmap {
 
std::string getPDALSupportedWriters();
 
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud,          const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud,       const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud,         const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud,   const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
 
}
 
 
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */