IOUtils.hpp

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#ifndef IOUTILS_HPP
#define IOUTILS_HPP
 
#include "lvr2/io/Timestamp.hpp"
#include "lvr2/io/Model.hpp"
#include "lvr2/io/CoordinateTransform.hpp"
#include "lvr2/registration/TransformUtils.hpp"
#include "lvr2/types/MatrixTypes.hpp"
#include "lvr2/types/ScanTypes.hpp"
 
#include <boost/filesystem.hpp>
 
#include <Eigen/Dense>
 
#include <fstream>
#include <vector>
 
namespace lvr2
{
 
 
void getPoseFromFile(BaseVector<float>& position, BaseVector<float>& angles, const boost::filesystem::path file);
 
void transformPointCloudAndAppend(PointBufferPtr& buffer,
        boost::filesystem::path& transfromFile,
        std::vector<float>& pts,
        std::vector<float>& nrm);
 
 
template<typename T>
Transform<T> getTransformationFromFile(const boost::filesystem::path& file);
 
template<typename T>
Transform<T> getTransformationFromFrames(const boost::filesystem::path& frames);
 
template<typename T>
Transform<T> getTransformationFromPose(const boost::filesystem::path& pose);
 
template<typename T>
Transform<T> getTransformationFromDat(const boost::filesystem::path& frames);
 
template<typename T>
Transform<T> loadFromFile(const boost::filesystem::path& file);
 
 
size_t countPointsInFile(const boost::filesystem::path& inFile);
 
template<typename T>
void writeFrame(const Transform<T>& transform, const boost::filesystem::path& framesOut);
 
void writePose(const BaseVector<float>& position, const BaseVector<float>& angles, const boost::filesystem::path& out);
 
size_t writeModel( ModelPtr model, const  boost::filesystem::path& outfile);
 
 
 
size_t getReductionFactor(ModelPtr model, size_t targetSize);
 
size_t getReductionFactor(boost::filesystem::path& inFile, size_t targetSize);
 
void writePointsAndNormals(std::vector<float>& p, std::vector<float>& n, std::string outfile);
 
size_t writePointsToStream(ModelPtr model, std::ofstream& out, bool nocolor = false);
 
size_t getNumberOfPointsInPLY(const std::string& filename);
 
PointBufferPtr subSamplePointBuffer(PointBufferPtr src, const size_t& n);
 
 
PointBufferPtr subSamplePointBuffer(PointBufferPtr src, const std::vector<size_t>& indices);
 
void slamToLVRInPlace(PointBufferPtr src);
 
void parseSLAMDirectory(std::string dir, vector<ScanPtr>& scans);
 
} // namespace lvr2
 
#include "IOUtils.tcc"
 
#endif // IOUTILS_HPP