ScanIOUtils.cpp

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#include <boost/regex.hpp>
#include <opencv2/opencv.hpp>
 
#include "lvr2/io/ModelFactory.hpp"
#include "lvr2/io/ScanIOUtils.hpp"
#include "lvr2/io/yaml/Scan.hpp"
#include "lvr2/io/yaml/ScanCamera.hpp"
#include "lvr2/io/yaml/HyperspectralCamera.hpp"
#include "lvr2/io/yaml/HyperspectralPanoramaChannel.hpp"
#include "lvr2/io/yaml/ScanImage.hpp"
#include "lvr2/io/yaml/ScanPosition.hpp"
#include "lvr2/io/yaml/ScanProject.hpp"
 
#include <sstream>
 
namespace lvr2
{
 
std::string getSensorType(const boost::filesystem::path& dir)
{
    std::string sensorType = "";
 
    // Try to open meta.yaml
    boost::filesystem::path metaPath = dir / "meta.yaml";
    if(boost::filesystem::exists(metaPath))
    {
        YAML::Node meta = YAML::LoadFile(metaPath.string());
 
        // Get sensor type
        if(meta["sensor_type"])
        {
            sensorType = meta["sensor_type"].as<std::string>();
        }
    }
    return sensorType;
}
 
void saveScanImage(
    const boost::filesystem::path& root,
    const ScanImage& image,
    const size_t& positionNumber,
    const size_t& camNumber,
    const size_t& imageNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << camNumber;
 
    saveScanImage(root, image, posStr.str(), camStr.str(), imageNumber);
}
 
void saveScanImage(
    const boost::filesystem::path& root,
    const ScanImage& image,
    const std::string positionDirectory,
    const size_t& cameraNumber,
    const size_t& imageNumber)
{
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << cameraNumber;
 
    saveScanImage(root, image, positionDirectory, camStr.str(), imageNumber);
}
 
boost::filesystem::path getScanImageDirectory(
    boost::filesystem::path root,
    const std::string positionDirectory,
    const std::string cameraDirectory)
{
    boost::filesystem::path pos(positionDirectory);
    boost::filesystem::path cam(cameraDirectory);
    boost::filesystem::path data("data/");
    return root / pos /cam / data;
}
 
void saveScanImage(
    const boost::filesystem::path& root,
    const ScanImage& image,
    const std::string positionDirectory,
    const std::string cameraDirectory,
    const size_t& imageNumber)
{
    // Some directory parsing stuff
    std::stringstream metaFileName;
    metaFileName << std::setfill('0') << std::setw(8) << imageNumber << ".yaml";
 
    std::stringstream imageFileName;
    imageFileName << std::setfill('0') << std::setw(8) << imageNumber << ".png";
 
    boost::filesystem::path imageDirectory =
        getScanImageDirectory(root, positionDirectory, cameraDirectory);
 
    if(!boost::filesystem::exists(imageDirectory))
    {
        std::cout << timestamp << "Creating: " << imageDirectory << std::endl;
        boost::filesystem::create_directory(imageDirectory);
    }
 
    boost::filesystem::path imagePath = imageDirectory / imageFileName.str();
    boost::filesystem::path metaPath = imageDirectory / metaFileName.str();
 
    // Write meta information for scan image
    YAML::Node meta;
    meta = image;
 
    std::ofstream out(metaPath.c_str());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << metaPath << std::endl;
        out << meta;
    }
    else
    {
        std::cout << timestamp
            << "Warning: to write " << metaPath << std::endl;
    }
 
    // Write image data
    std::cout << timestamp << "Writing " << imagePath << std::endl;
    cv::imwrite(imagePath.string(), image.image);
}
 
bool loadScanImage(
    const boost::filesystem::path& root,
    ScanImage& image,
    const size_t& positionNumber,
    const size_t& cameraNumber,
    const size_t& imageNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << cameraNumber;
 
    return loadScanImage(root, image, posStr.str(), camStr.str(), imageNumber);
}
 
bool loadScanImage(
    const boost::filesystem::path& root,
    ScanImage& image,
    const std::string& positionDirectory,
    const size_t& cameraNumber,
    const size_t& imageNumber)
{
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << cameraNumber;
 
    return loadScanImage(root, image, positionDirectory, camStr.str(), imageNumber);
}
 
bool loadScanImage(
    const boost::filesystem::path& root,
    ScanImage& image,
    const std::string& positionDirectory,
    const std::string& cameraDirectory,
    const size_t& imageNumber)
{
    // Some directory parsing stuff
    std::stringstream metaFileName;
    metaFileName << std::setfill('0') << std::setw(8) << imageNumber << ".yaml";
 
    std::stringstream imageFileName;
    imageFileName << std::setfill('0') << std::setw(8) << imageNumber << ".png";
 
    boost::filesystem::path imageDirectory =
        getScanImageDirectory(root, positionDirectory, cameraDirectory);
 
    boost::filesystem::path imagePath(imageDirectory / boost::filesystem::path(imageFileName.str()));
    boost::filesystem::path metaPath(imageDirectory / boost::filesystem::path(metaFileName.str()));
 
    // Load meta info
    std::cout << timestamp << "Loading " << metaPath << std::endl;
    YAML::Node meta = YAML::LoadFile(metaPath.string());
    image = meta.as<ScanImage>();
 
    // Load image data
    std::cout << timestamp << "Loading " << imagePath << std::endl;
    image.imageFile = imagePath;
    image.image = cv::imread(imagePath.string());
 
    return true;
}
 
void loadScanImages(
    std::vector<ScanImagePtr>& images,
    boost::filesystem::path dataPath)
{
    bool stop = false;
    size_t c = 0;
    while(!stop)
    {
        std::stringstream metaStr;
        metaStr << std::setfill('0') << std::setw(8) << c << ".yaml";
 
        std::stringstream pngStr;
        pngStr << std::setfill('0') << std::setw(8) << c << ".png";
 
        boost::filesystem::path metaPath = dataPath / metaStr.str();
        boost::filesystem::path pngPath = dataPath / pngStr.str();
 
        // Check if both .png and corresponding .yaml file exist
        if(boost::filesystem::exists(metaPath)
            && boost::filesystem::exists(pngPath) )
        {
            // Load meta info
            ScanImage* image = new ScanImage;
 
            std::cout << timestamp << "Loading " << metaPath << std::endl;
            YAML::Node meta = YAML::LoadFile(metaPath.string());
 
            // *image = meta.as<ScanImage>();
            if(YAML::convert<ScanImage>::decode(meta, *image))
            {
                // Load image data
                std::cout << timestamp << "Loading " << pngPath << std::endl;
                image->imageFile = pngPath;
                image->image = cv::imread(pngPath.string());
 
                // Store new image
                images.push_back(ScanImagePtr(image));
            } else {
                std::cout << timestamp << "Could not convert " << metaPath << std::endl;
            }
 
            c++;
        }
        else
        {
            std::cout
                << timestamp << "Read " << c << " images from " << dataPath << std::endl;
            stop = true;
        }
    }
}
 
 
boost::filesystem::path getScanCameraDirectory(
    boost::filesystem::path root,
    const std::string positionDirectory,
    const std::string cameraDirectory)
{
    boost::filesystem::path pos(positionDirectory);
    boost::filesystem::path cam(cameraDirectory);
    return root / pos /cam;
}
 
 
void saveScanCamera(
    const boost::filesystem::path& root,
    const ScanCamera& camera,
    const std::string positionDirectory,
    const std::string cameraDirectory)
{
    boost::filesystem::path cameraPath =
        getScanCameraDirectory(root, positionDirectory, cameraDirectory);
 
    if(!boost::filesystem::exists(cameraPath))
    {
        std::cout << timestamp << "Creating: " << cameraPath << std::endl;
        boost::filesystem::create_directory(cameraPath);
    }
 
    boost::filesystem::path metaPath(cameraPath / "meta.yaml");
 
     // Write meta information of scan camera
    YAML::Node meta;
    meta = camera;
 
    std::ofstream out(metaPath.c_str());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << metaPath << std::endl;
        out << meta;
    }
    else
    {
        std::cout << timestamp
            << "Warning: Unable to write " << metaPath << std::endl;
    }
 
    // Save all images
    for(size_t i = 0; i < camera.images.size(); i++)
    {
        saveScanImage(root, *camera.images[i], positionDirectory, cameraDirectory, i);
    }
}
 
void saveScanCamera(
    const boost::filesystem::path& root,
    const ScanCamera& camera,
    const std::string& positionDirectory,
    const size_t& cameraNumber)
{
    std::stringstream camStr;
    camStr << "cam_" << cameraNumber;
 
    return saveScanCamera(root, camera, positionDirectory, camStr.str());
}
 
void saveScanCamera(
    const boost::filesystem::path& root,
    const ScanCamera& camera,
    const size_t& positionNumber,
    const size_t& cameraNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    return saveScanCamera(root, camera, posStr.str(), cameraNumber);
}
 
 
bool loadScanCamera(
    const boost::filesystem::path& root,
    ScanCamera& camera,
    const std::string& positionDirectory,
    const size_t& cameraNumber)
{
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << cameraNumber;
 
    return loadScanCamera(root, camera, positionDirectory, camStr.str());
}
 
bool loadScanCamera(
    const boost::filesystem::path& root,
    ScanCamera& camera,
    const size_t& positionNumber,
    const size_t& cameraNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    std::stringstream camStr;
    camStr << std::setfill('0') << std::setw(8) << cameraNumber;
 
    return loadScanCamera(root, camera, posStr.str(), camStr.str());
}
 
bool loadScanCamera(
    const boost::filesystem::path& root,
    ScanCamera& camera,
    const std::string& positionDirectory,
    const std::string& cameraDirectory)
{
    boost::filesystem::path cameraPath =
        getScanCameraDirectory(root, positionDirectory, cameraDirectory);
 
    if(getSensorType(cameraPath) == camera.sensorType)
    {
 
        boost::filesystem::path metaPath = cameraPath / "meta.yaml";
 
        // Load camera data
        std::cout << timestamp << "Loading " << metaPath << std::endl;
        YAML::Node meta = YAML::LoadFile(metaPath.string());
        camera = meta.as<ScanCamera>();
 
        // Load all scan images
        loadScanImages(camera.images, cameraPath / "data");
        return true;
    }
    else
    {
        return false;
    }
}
 
 
void saveScan(
    const boost::filesystem::path& root,
    const Scan& scan,
    const std::string positionDirectory,
    const std::string scanDirectory,
    const std::string scanName)
{
 
    boost::filesystem::path scanPosPath = root / positionDirectory;
 
    if(!boost::filesystem::exists(scanPosPath))
    {
        std::cout << timestamp << "Creating: " << scanPosPath << std::endl;
        boost::filesystem::create_directory(scanPosPath);
    }
 
    boost::filesystem::path scanPath = scanPosPath / scanDirectory;
    if(!boost::filesystem::exists(scanPath))
    {
        std::cout << timestamp << "Creating: " << scanPath << std::endl;
        boost::filesystem::create_directory(scanPath);
    }
 
    // Check if meta.yaml exists for given directory
    boost::filesystem::path metaPath = scanPath / "meta.yaml";
    if(!boost::filesystem::exists(metaPath))
    {
        YAML::Node node;
        node = scan;
 
        std::ofstream out(metaPath.c_str());
        if (out.good())
        {
            std::cout << timestamp << "Writing " << metaPath << std::endl;
            out << node;
        }
        else
        {
            std::cout << timestamp
                      << "Warning: Unable to write " << metaPath << std::endl;
        }
    }
 
    // write data
    boost::filesystem::path scanDataPath = scanPath / "data";
    if(!boost::filesystem::exists(scanDataPath))
    {
        std::cout << timestamp << "Creating: " << scanDataPath << std::endl;
        boost::filesystem::create_directory(scanDataPath);
    }
 
    boost::filesystem::path scanOut = scanDataPath / (scanName + ".ply");
    boost::filesystem::path scanMetaOut = scanDataPath / (scanName + ".yaml");
 
    // if(!boost::ex)
 
    // Write meta.yaml
    YAML::Node node;
    node = scan;
 
    std::ofstream out(scanMetaOut.string());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << scanMetaOut << std::endl;
        out << node;
    }
    else
    {
        std::cout << timestamp
                  << "Warning: Unable to write " << scanMetaOut << std::endl;
    }
 
    // Write point cloud data
    std::cout << timestamp << "Writing " << scanOut << std::endl;
 
    ModelPtr model(new Model);
    model->m_pointCloud = scan.points;
    ModelFactory::saveModel(model, scanOut.string());
}
 
void saveScan(
    const boost::filesystem::path& root,
    const Scan& scan,
    const std::string positionDirectory,
    const std::string scanDirectory,
    const size_t& scanNumber)
{
    std::stringstream scanStr;
    scanStr << std::setfill('0') << std::setw(8) << scanNumber;
 
    saveScan(root, scan, positionDirectory, scanDirectory, scanStr.str());
}
 
void saveScan(
    const boost::filesystem::path& root,
    const Scan& scan,
    const size_t& positionNumber,
    const size_t& scanNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    std::stringstream scanStr;
    scanStr << std::setfill('0') << std::setw(8) << scanNumber << ".ply";
 
    saveScan(root, scan, posStr.str(), "scans", scanStr.str());
}
 
bool loadScan(
    const boost::filesystem::path& root,
    Scan& scan,
    const std::string& positionDirectory,
    const std::string& scanSubDirectory,
    const std::string& scanName)
{
 
    boost::filesystem::path scanDirectoryPath = root / positionDirectory / scanSubDirectory;
 
    if(!boost::filesystem::exists(scanDirectoryPath))
    {
        std::cerr << timestamp << "Could not open " << scanDirectoryPath << std::endl;
        return false;
    }
 
 
 
    if(getSensorType(scanDirectoryPath) == scan.sensorType)
    {
        boost::filesystem::path scanDataPath = scanDirectoryPath / "data";
        // Load meta data
 
        boost::filesystem::path metaPath = scanDataPath / (scanName + ".yaml");
        std::cout << timestamp << "Loading " << metaPath << std::endl;
        YAML::Node meta = YAML::LoadFile(metaPath.string());
        scan = meta.as<Scan>();
 
        // Load scan
        boost::filesystem::path scanFile = scanDataPath / (scanName + ".ply");
        std::cout << timestamp << "Loading " << scanFile << std::endl;
        ModelPtr model = ModelFactory::readModel(scanFile.string());
 
        if(model->m_pointCloud)
        {
            scan.points = model->m_pointCloud;
        }
        else
        {
            std::cout << timestamp
                      << "Warning: Loading " << scanFile << " failed." << std::endl;
            return false;
        }
 
 
        return true;
    }
 
    return false;
}
 
bool loadScan(
    const boost::filesystem::path& root,
    Scan& scan,
    const std::string& positionDirectory,
    const size_t& scanNumber)
{
    std::stringstream scanStr;
    scanStr << std::setfill('0') << std::setw(8) << scanNumber;
 
    return loadScan(root, scan, positionDirectory, "scans", scanStr.str());
}
 
bool loadScan(
    const boost::filesystem::path& root,
    Scan& scan,
    const size_t& positionNumber,
    const size_t& scanNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    std::stringstream scanStr;
    scanStr << std::setfill('0') << std::setw(8) << scanNumber;
 
    return loadScan(root, scan, posStr.str(), "scans", scanStr.str());
}
 
 
 
 
boost::filesystem::path getPanoramaChannelDirectory(
    boost::filesystem::path root,
    const std::string positionDirectory,
    const std::string panoramaDirectory)
{
    boost::filesystem::path pos(positionDirectory);
    boost::filesystem::path pan(panoramaDirectory);
    return root / pos / "spectral" / "data" / pan;
}
 
// void saveHyperspectralPanoramaChannel(
//     const boost::filesystem::path& root,
//     const HyperspectralPanoramaChannel& channel,
//     const size_t& positionNumber,
//     const size_t& panoramaNumber,
//     const size_t& channelNumber)
// {
//     std::stringstream posStr;
//     posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
//     std::stringstream camStr;
//     camStr << std::setfill('0') << std::setw(8) << panoramaNumber;
 
//     saveHyperspectralPanoramaChannel(root, channel, posStr.str(), camStr.str(), channelNumber);
// }
 
// void saveHyperspectralPanoramaChannel(
//     const boost::filesystem::path& root,
//     const HyperspectralPanoramaChannel& channel,
//     const std::string positionDirectory,
//     const size_t& panoramaNumber,
//     const size_t& channelNumber)
// {
//     std::stringstream camStr;
//     camStr << std::setfill('0') << std::setw(8) << panoramaNumber;
 
//     saveHyperspectralPanoramaChannel(root, channel, positionDirectory, camStr.str(), channelNumber);
// }
 
void saveHyperspectralPanoramaChannel(
    const boost::filesystem::path& root,
    const HyperspectralPanoramaChannel& channel,
    const std::string positionDirectory,
    const std::string panoramaDirectory,
    const size_t& channelNumber)
{
    // Some directory parsing stuff
    std::stringstream metaFileName;
    metaFileName << std::setfill('0') << std::setw(8) << channelNumber << ".yaml";
 
    std::stringstream channelFileName;
    channelFileName << std::setfill('0') << std::setw(8) << channelNumber << ".png";
 
    boost::filesystem::path channelDirectory =
        getPanoramaChannelDirectory(root, positionDirectory, panoramaDirectory);
 
    if(!boost::filesystem::exists(channelDirectory))
    {
        std::cout << timestamp << "Creating: " << channelDirectory << std::endl;
        boost::filesystem::create_directory(channelDirectory);
    }
 
    boost::filesystem::path imagePath = channelDirectory / channelFileName.str();
    boost::filesystem::path metaPath = channelDirectory / metaFileName.str();
 
    // Write meta information for scan image
    YAML::Node meta;
    meta = channel;
 
    std::ofstream out(metaPath.c_str());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << metaPath << std::endl;
        out << meta;
    }
    else
    {
        std::cout << timestamp
            << "Warning: to write " << metaPath << std::endl;
    }
 
    // Write image data
    std::cout << timestamp << "Writing " << imagePath << std::endl;
    cv::imwrite(imagePath.string(), channel.channel);
}
 
void loadHyperspectralPanoramaChannels(
    std::vector<HyperspectralPanoramaChannelPtr>& channels,
    boost::filesystem::path dataPath)
{
    bool stop = false;
    size_t c = 0;
    while(!stop)
    {
        std::stringstream metaStr;
        metaStr << std::setfill('0') << std::setw(8) << c << ".yaml";
 
        std::stringstream pngStr;
        pngStr << std::setfill('0') << std::setw(8) << c << ".png";
 
        boost::filesystem::path metaPath = dataPath / metaStr.str();
        boost::filesystem::path pngPath = dataPath / pngStr.str();
 
        // Check if both .png and corresponding .yaml file exist
        if(boost::filesystem::exists(metaPath)
            && boost::filesystem::exists(pngPath) )
        {
            // Load meta info
            HyperspectralPanoramaChannel* channel = new HyperspectralPanoramaChannel;
 
            // std::cout << timestamp << "Loading " << metaPath << std::endl;
            YAML::Node meta = YAML::LoadFile(metaPath.string());
 
            // *channel = meta.as<ScanImage>();
            if(YAML::convert<HyperspectralPanoramaChannel>::decode(meta, *channel))
            {
                // Load channel data
                // std::cout << timestamp << "Loading " << pngPath << std::endl;
                channel->channelFile = pngPath;
                channel->channel = cv::imread(pngPath.string());
 
                // Store new channel
                channels.push_back(HyperspectralPanoramaChannelPtr(channel));
            } else {
                std::cout << timestamp << "Could not convert " << metaPath << std::endl;
            }
 
            c++;
        }
        else
        {
            std::cout
                << timestamp << "Read " << c << " channels from " << dataPath << std::endl;
            stop = true;
        }
    }
}
 
 
 
boost::filesystem::path getHyperspectralCameraDirectory(
    boost::filesystem::path root,
    const std::string positionDirectory,
    const std::string cameraDirectory)
{
    boost::filesystem::path pos(positionDirectory);
    boost::filesystem::path cam(cameraDirectory);
    return root / pos /cam;
}
 
void saveHyperspectralCamera(const boost::filesystem::path& root,
    const HyperspectralCamera& camera,
    const std::string positionDirectory,
    const std::string& cameraDirectory)
{
    boost::filesystem::path spectral_pos_path = getHyperspectralCameraDirectory(root, positionDirectory, cameraDirectory);
 
    if(!boost::filesystem::exists(spectral_pos_path))
    {
        std::cout << timestamp << "Creating: " << spectral_pos_path << std::endl;
        boost::filesystem::create_directory(spectral_pos_path);
    }
 
    boost::filesystem::path spectral_data_path = spectral_pos_path / "data";
    if(!boost::filesystem::exists(spectral_data_path))
    {
        std::cout << timestamp << "Creating: " << spectral_data_path << std::endl;
        boost::filesystem::create_directory(spectral_data_path);
    }
 
    // Check if meta.yaml exists for given directory
    boost::filesystem::path metaPath = spectral_pos_path / "meta.yaml";
    if(!boost::filesystem::exists(metaPath))
    {
        YAML::Node node;
        node = camera;
 
        std::ofstream out(metaPath.c_str());
        if (out.good())
        {
            std::cout << timestamp << "Writing " << metaPath << std::endl;
            out << node;
        }
        else
        {
            std::cout << timestamp
                      << "Warning: Unable to write " << metaPath << std::endl;
        }
    }
 
    // saving panoramas
    for(int panorama_id = 0; panorama_id < camera.panoramas.size(); panorama_id++)
    {
        char buffer[sizeof(int) * 5];
        sprintf(buffer, "%08d", panorama_id);
        string nr_str(buffer);
 
        boost::filesystem::path panorama_pos_path = spectral_data_path / nr_str;
        if(!boost::filesystem::exists(panorama_pos_path))
        {
            std::cout << timestamp << "Creating: " << panorama_pos_path << std::endl;
            boost::filesystem::create_directory(panorama_pos_path);
        }
 
        // saving channels
        for(int channel_id = 0; channel_id < camera.panoramas[panorama_id]->channels.size(); channel_id++)
        {
            saveHyperspectralPanoramaChannel(root, *(camera.panoramas[panorama_id]->channels[channel_id]), positionDirectory, nr_str, channel_id);
        }
    }
}
 
void saveHyperspectralCamera(
    const boost::filesystem::path& root,
    const HyperspectralCamera& camera,
    const std::string& positionDirectory)
{
    return saveHyperspectralCamera(root, camera, positionDirectory, "spectral");
}
 
void saveHyperspectralCamera(
    const boost::filesystem::path& root,
    const HyperspectralCamera& camera,
    const size_t& positionNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    return saveHyperspectralCamera(root, camera, posStr.str(), "spectral");
}
 
bool loadHyperspectralCamera(
    const boost::filesystem::path& root,
    HyperspectralCamera& camera,
    const std::string& positionDirectory,
    const std::string& cameraDirectory)
{
    boost::filesystem::path cameraPath =
        getHyperspectralCameraDirectory(root, positionDirectory, cameraDirectory);
 
    if(getSensorType(cameraPath) == camera.sensorType)
    {
 
        boost::filesystem::path metaPath = cameraPath / "meta.yaml";
 
        // Load camera data
        std::cout << timestamp << "Loading " << metaPath << std::endl;
        YAML::Node meta = YAML::LoadFile(metaPath.string());
        camera = meta.as<HyperspectralCamera>();
 
        // Load all hyperspectral images
        // loadScanImages(camera.images, cameraPath / "data");
 
        boost::filesystem::path dataPath = cameraPath / "data";
 
        bool stop = false;
        size_t c = 0;
        while(!stop)
        {
            std::stringstream metaStr;
            metaStr << std::setfill('0') << std::setw(8) << c;
            
            boost::filesystem::path channelPath = dataPath / metaStr.str();
 
            if(boost::filesystem::exists(channelPath))
            {
                std::vector<HyperspectralPanoramaChannelPtr> channels;
                loadHyperspectralPanoramaChannels(channels, channelPath);
                
                HyperspectralPanoramaPtr panorama(new HyperspectralPanorama);
                panorama->channels = channels;
                camera.panoramas.push_back(panorama);
 
                c++;
            }
            else
            {
                std::cout
                    << timestamp << "Read " << c << " panoramas from " << cameraPath << std::endl;
                stop = true;
            }
        }
 
        return true;
    }
    else
    {
        return false;
    }
}
 
bool loadHyperspectralCamera(
    const boost::filesystem::path& root,
    HyperspectralCamera& camera,
    const std::string& positionDirectory)
{
    return loadHyperspectralCamera(root, camera, positionDirectory, "spectral");
}
 
bool loadHyperspectralCamera(
    const boost::filesystem::path& root,
    HyperspectralCamera& camera,
    const size_t& positionNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    return loadHyperspectralCamera(root, camera, posStr.str(), "spectral");
}
 
 
void saveScanPosition(
    const boost::filesystem::path& root,
    const ScanPosition& scanPos,
    const std::string positionDirectory)
{
    boost::filesystem::path scan_pos_path = root / positionDirectory;
 
    if(!boost::filesystem::exists(root))
    {
        std::cout << timestamp << "Creating: " << root << std::endl;
        boost::filesystem::create_directory(root);
    }
 
    if(!boost::filesystem::exists(scan_pos_path))
    {
        std::cout << timestamp << "Creating: " << scan_pos_path << std::endl;
        boost::filesystem::create_directory(scan_pos_path);
    }
 
 
    boost::filesystem::path scanPosMetaOut = scan_pos_path / "meta.yaml";
    YAML::Node meta;
    meta = scanPos;
 
    std::ofstream out(scanPosMetaOut.string());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << scanPosMetaOut << std::endl;
        out << meta;
    }
    else
    {
        std::cout << timestamp
                  << "Warning: Unable to write " << scanPosMetaOut << std::endl;
    }
 
    for(size_t scan_id = 0; scan_id < scanPos.scans.size(); scan_id++)
    {
        saveScan(root, *scanPos.scans[scan_id], positionDirectory, "scans", scan_id);
    }
 
    for(size_t cam_id = 0; cam_id < scanPos.cams.size(); cam_id++)
    {
        saveScanCamera(root, *scanPos.cams[cam_id], positionDirectory, cam_id);
    }
 
    if(scanPos.hyperspectralCamera)
    {
        saveHyperspectralCamera(root, *scanPos.hyperspectralCamera, positionDirectory);
    }
}
 
void saveScanPosition(
    const boost::filesystem::path& root,
    const ScanPosition& scanPos,
    const size_t& positionNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
 
    saveScanPosition(root, scanPos, posStr.str());
}
 
bool loadScanPosition(
    const boost::filesystem::path& root,
    ScanPosition& scanPos,
    const std::string& positionDirectory)
{
 
    boost::filesystem::path scanPosDir = root / positionDirectory;
 
    if(!boost::filesystem::exists(scanPosDir))
    {
        std::cerr << timestamp << "Could not open " << scanPosDir << std::endl;
        return false;
    }
 
    boost::filesystem::path scanPosMetaPath = scanPosDir / "meta.yaml";
    if(!boost::filesystem::is_regular_file(scanPosMetaPath))
    {
        std::cerr << timestamp << "Could not open " << scanPosMetaPath << std::endl;
        return false;
    }
 
    YAML::Node meta = YAML::LoadFile(scanPosMetaPath.string());
 
    scanPos = meta.as<ScanPosition>();
 
 
    boost::filesystem::directory_iterator it{scanPosDir};
    while (it != boost::filesystem::directory_iterator{})
    {
        const std::string sensorType = getSensorType(*it);
 
        if(sensorType == Scan::sensorType)
        {
            boost::filesystem::path scanDataDir = it->path() / "data";
 
            boost::filesystem::directory_iterator itScans{scanDataDir};
            while (itScans != boost::filesystem::directory_iterator{})
            {
                if(itScans->path().extension() == ".yaml")
                {
                    std::string scanName = itScans->path().stem().string();
                    ScanPtr scan(new Scan);
 
                    if(loadScan(root, *scan, positionDirectory, it->path().stem().string(), scanName))
                    {
                        scanPos.scans.push_back(scan);
                    }
                }
                ++itScans;
            }
        }
        else if(sensorType == ScanCamera::sensorType)
        {
            ScanCameraPtr cam(new ScanCamera);
 
            if(loadScanCamera(root, *cam, positionDirectory, it->path().stem().string()))
            {
                scanPos.cams.push_back(cam);
            } else {
                std::cout << timestamp << "[ WARNING ] Could not load camera from " << it->path() << std::endl;
            }
        }
        else if(sensorType == HyperspectralCamera::sensorType)
        {
            HyperspectralCameraPtr cam(new HyperspectralCamera);
 
            if(loadHyperspectralCamera(root, *cam, positionDirectory))
            {
                scanPos.hyperspectralCamera = cam;
            } else {
                std::cout << timestamp << "[ WARNING ] Could not load hyperspectral camera from " << it->path() << std::endl;
            }
        }
 
        ++it;
    }
 
 
    return true;
}
 
bool loadScanPosition(
    const boost::filesystem::path& root,
    ScanPosition& scanPos,
    const size_t& positionNumber)
{
    std::stringstream posStr;
    posStr << std::setfill('0') << std::setw(8) << positionNumber;
    return loadScanPosition(root, scanPos, posStr.str());
}
 
 
void saveScanProject(
    const boost::filesystem::path& root,
    const ScanProject& scanProj)
{
 
    if(!boost::filesystem::exists(root))
    {
        boost::filesystem::create_directory(root);
    }
 
    boost::filesystem::path scanProjMetaPath = root / "meta.yaml";
 
    YAML::Node meta;
    meta = scanProj;
 
    std::ofstream out(scanProjMetaPath.string());
    if (out.good())
    {
        std::cout << timestamp << "Writing " << scanProjMetaPath << std::endl;
        out << meta;
    }
    else
    {
        std::cout << timestamp
                  << "Warning: Unable to write " << scanProjMetaPath << std::endl;
    }
 
 
    // Writing scan positions
    for(size_t i=0; i<scanProj.positions.size(); i++)
    {
        saveScanPosition(root, *scanProj.positions[0], i);
    }
 
 
}
 
bool loadScanProject(
    const boost::filesystem::path& root,
    ScanProject& scanProj)
{
    if(!boost::filesystem::exists(root))
    {
        std::cerr << timestamp << "Could not open " << root << std::endl;
        return false;
    }
 
    boost::filesystem::path scanProjMetaPath = root / "meta.yaml";
 
    if(!boost::filesystem::is_regular_file(scanProjMetaPath))
    {
        std::cerr << timestamp << "Could not load " << scanProjMetaPath << std::endl;
        return false;
    }
 
    YAML::Node meta = YAML::LoadFile(scanProjMetaPath.string());
    scanProj = meta.as<ScanProject>();
 
    std::vector<boost::filesystem::path> paths;
 
    std::copy(boost::filesystem::directory_iterator(root), boost::filesystem::directory_iterator(), back_inserter(paths));
    std::sort(paths.begin(), paths.end());
    // boost::filesystem::directory_iterator it{root};
    for (std::vector<boost::filesystem::path>::const_iterator it(paths.begin()), it_end(paths.end()); it != it_end; ++it)
    {
        if(getSensorType(*it) == ScanPosition::sensorType)
        {
            std::cout << *it << '\n';
            ScanPositionPtr scanPos(new ScanPosition);
 
            loadScanPosition(root, *scanPos, it->filename().string());
            scanProj.positions.push_back(scanPos);
        }
 
        // ++it;
    }
 
    return true;
}
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
// std::set<size_t> loadPositionIdsFromDirectory(
//     const boost::filesystem::path& path
// )
// {
//     std::set<size_t> positions;
//     boost::filesystem::path scan_path = path / "scans";
//     const boost::regex scan_dir_filter("^([0-9]{5}).*$");
 
//     boost::filesystem::directory_iterator end_itr;
//     for(boost::filesystem::directory_iterator it(scan_path); it != end_itr; ++it )
//     {
//         if( !boost::filesystem::is_directory( it->path() ) ) continue;
//         boost::smatch what;
//         if( !boost::regex_match( it->path().filename().string(), what, scan_dir_filter ) ) continue;
//         positions.insert(static_cast<size_t>(std::stoul(what[1])));
//     }
 
//     return positions;
// }
 
// std::set<size_t> loadCamIdsFromDirectory(
//     const boost::filesystem::path& path,
//     const size_t& positionNr
// )
// {
//     std::set<size_t> cam_ids;
 
//     std::stringstream ss;
//     ss << std::setfill('0') << std::setw(5) << positionNr;
//     boost::filesystem::path scan_images_dir = path / "scan_images" / ss.str();
 
//     if(boost::filesystem::exists(scan_images_dir))
//     {
//         const boost::regex image_filter("^(\\d+)_(\\d+)\\.(bmp|dib|jpeg|jpg|jpe|jp2|png|pbm|pgm|ppm|sr|ras|tiff|tif)$");
 
//         boost::filesystem::directory_iterator end_itr;
//         for(boost::filesystem::directory_iterator it(scan_images_dir); it != end_itr; ++it )
//         {
//             if( !boost::filesystem::is_regular_file( it->path() ) ) continue;
 
//             boost::smatch what;
//             if( !boost::regex_match( it->path().filename().string(), what, image_filter ) ) continue;
 
//             cam_ids.insert(static_cast<size_t>(std::stoul(what[1])));
 
//         }
//     }
 
//     return cam_ids;
// }
 
// std::set<size_t> loadImageIdsFromDirectory(
//     const boost::filesystem::path& path,
//     const size_t& positionNr,
//     const size_t& camNr
// )
// {
//     std::set<size_t> img_ids;
 
//     std::stringstream ss;
//     ss << std::setfill('0') << std::setw(5) << positionNr;
//     boost::filesystem::path scan_images_dir = path / "scan_images" / ss.str();
 
 
//     if(boost::filesystem::exists(scan_images_dir))
//     {
//         const boost::regex image_filter("^(\\d+)_(\\d+)\\.(bmp|dib|jpeg|jpg|jpe|jp2|png|pbm|pgm|ppm|sr|ras|tiff|tif)$");
 
//         boost::filesystem::directory_iterator end_itr;
//         for(boost::filesystem::directory_iterator it(scan_images_dir); it != end_itr; ++it )
//         {
//             if( !boost::filesystem::is_regular_file( it->path() ) ) continue;
 
//             boost::smatch what;
//             if( !boost::regex_match( it->path().filename().string(), what, image_filter ) ) continue;
 
//             if(static_cast<size_t>(std::stoul(what[1])) == camNr)
//             {
//                 img_ids.insert(static_cast<size_t>(std::stoul(what[2])));
//             }
//         }
//     }
 
 
//     return img_ids;
// }
 
// void writeScanMetaYAML(const boost::filesystem::path& path, const Scan& scan)
// {
 
//     YAML::Node meta;
//     meta = scan;
 
//     std::ofstream out(path.c_str());
//     if (out.good())
//     {
//         out << meta;
//     }
//     else
//     {
//         std::cout << timestamp << "Warning: Unable to open "
//                   << path.string() << "for writing." << std::endl;
//     }
 
// }
 
// void saveScanToDirectory(
//     const boost::filesystem::path& path,
//     const Scan& scan,
//     const size_t& positionNr)
// {
//     // Create full path from root and scan number
//     std::stringstream ss;
//     ss << std::setfill('0') << std::setw(5) << positionNr;
//     boost::filesystem::path directory = path / "scans" / ss.str();
 
//     // Check if directory exists, if not create it and write meta data
//     // and into the new directory
 
//     if(!boost::filesystem::exists(path))
//     {
//         std::cout << timestamp << "Creating " << path << std::endl;
//         boost::filesystem::create_directory(path);
//     }
 
//     if(!boost::filesystem::exists(path / "scans")) {
//         std::cout << timestamp << "Creating " << path / "scans" << std::endl;
//         boost::filesystem::create_directory(path / "scans");
//     }
 
//     if(!boost::filesystem::exists(directory))
//     {
//         std::cout << timestamp << "Creating " << directory << std::endl;
//         boost::filesystem::create_directory(directory);
//     }
 
//     // Create yaml file with meta information
//     std::cout << timestamp << "Creating scan meta.yaml..." << std::endl;
//     writeScanMetaYAML(directory / "meta.yaml", scan);
 
//     // Save points
//     std::string scanFileName( (directory / "scan.ply").string() );
//     std::cout << timestamp << "Writing " << scanFileName << std::endl;
 
//     ModelPtr model(new Model());
//     if(scan.m_points)
//     {
//         model->m_pointCloud = scan.m_points;
//         PLYIO io;
//         io.save(model, scanFileName);
//     }
//     else
//     {
//         std::cout << timestamp << "Warning: Point cloud pointer is empty!" << std::endl;
//     }
 
 
// }
 
// bool loadScanFromDirectory(
//     const boost::filesystem::path& path,
//     Scan& scan, const size_t& positionNr, bool load)
// {
//     if(boost::filesystem::exists(path) && boost::filesystem::is_directory(path))
//     {
//         std::stringstream ss;
//         ss << std::setfill('0') << std::setw(5) << positionNr;
//         boost::filesystem::path position_directory = path / "scans" / ss.str();
 
//         if(boost::filesystem::exists(position_directory))
//         {
//             // Load meta data
//             boost::filesystem::path meta_yaml_path = position_directory / "meta.yaml";
//             std::cout << timestamp << "Reading " << meta_yaml_path << std::endl;
//             loadScanMetaInfoFromYAML(meta_yaml_path, scan);
 
 
//             // Load scan data
//             boost::filesystem::path scan_path = position_directory / "scan.ply";
//             std::cout << timestamp << "Reading " << scan_path << std::endl;
 
//             if (boost::filesystem::exists(scan_path))
//             {
//                 scan.m_scanFile = scan_path;
//                 scan.m_scanRoot = path; // TODO: Check root dir or scan dir??
//                 if (load)
//                 {
//                     PLYIO io;
//                     ModelPtr model = io.read(scan_path.string());
//                     scan.m_points = model->m_pointCloud;
//                     scan.m_pointsLoaded = true;
//                 }
//                 else
//                 {
//                     scan.m_pointsLoaded = false;
//                 }
//                 return true;
//             }
//             else
//             {
//                 std::cout << "Warning: scan.ply not found in directory "
//                           << scan_path << std::endl;
//                 return false;
//             }
//         }
//         else
//         {
//             std::cout << timestamp
//                       << "Warning: Scan directory " << position_directory << " "
//                       << "does not exist." << std::endl;
//             return false;
//         }
//     }
//     else
//     {
//         std::cout << timestamp
//                   << "Warning: '" << path.string()
//                   << "' does not exist or is not a directory." << std::endl;
//         return false;
//     }
// }
 
// void loadScanMetaInfoFromYAML(const boost::filesystem::path& path, Scan& scan)
// {
//     YAML::Node meta = YAML::LoadFile(path.string());
//     scan = meta.as<Scan>();
// }
 
 
// void saveScanToHDF5(const std::string filename, const size_t& positionNr)
// {
 
// }
 
// bool loadScanFromHDF5(const std::string filename, const size_t& positionNr)
// {
//     return true;
// }
 
// void saveScanImageToDirectory(
//     const boost::filesystem::path& path,
//     const std::string& camDir,
//     const ScanImage& image,
//     const size_t& positionNr,
//     const size_t& imageNr)
// {
//     std::stringstream pos_ss;
//     pos_ss << std::setfill('0') << std::setw(5) << positionNr;
//     boost::filesystem::path scanimage_directory = path / pos_ss.str() / camDir;
 
//     // Create directory for scan image if necessary
//     if(!boost::filesystem::exists(scanimage_directory))
//     {
//         boost::filesystem::create_directory(scanimage_directory);
//     }
 
//     // Create directory for scan image data frame data if necessary
//     boost::filesystem::path scanimage_data_directory = scanimage_directory / "data";
//     if(!boost::filesystem::exists(scanimage_data_directory))
//     {
//         boost::filesystem::create_directory(scanimage_data_directory);
//     }
 
 
 
// }
 
// void writePinholeModelToYAML(
//     const boost::filesystem::path& path, const PinholeModeld& model)
// {
//     // YAML::Node meta;
//     // meta = model;
 
//     // std::ofstream out(path.c_str());
//     // if (out.good())
//     // {
//     //     out << meta;
//     // }
//     // else
//     // {
//     //     std::cout << timestamp << "Warning: Unable to open "
//     //               << path.string() << "for writing." << std::endl;
//     // }
 
// }
 
// void loadPinholeModelFromYAML(const boost::filesystem::path& path, PinholeModeld& model)
// {
// //     YAML::Node model_file = YAML::LoadFile(path.string());
// //     model = model_file.as<PinholeModeld>();
// //
// }
 
// bool loadScanImageFromDirectory(
//     const boost::filesystem::path& path,
//     ScanImage& image,
//     const size_t& positionNr,
//     const size_t& camNr,
//     const size_t& imageNr)
// {
//     // // Convert position and image number to strings
//     // stringstream pos_str;
//     // pos_str << std::setfill('0') << std::setw(5) << positionNr;
 
//     // // Construct a path to image directory and check
//     // boost::filesystem::path scan_image_dir = path / "scan_images" / pos_str.str();
//     // if(boost::filesystem::exists(scan_image_dir))
//     // {
//     //     std::stringstream yaml_file, image_file;
//     //     yaml_file << camNr << "_" << imageNr << ".yaml";
//     //     image_file << camNr << "_" << imageNr << ".png";
 
//     //     boost::filesystem::path meta_path = scan_image_dir / yaml_file.str();
//     //     boost::filesystem::path image_path = scan_image_dir / image_file.str();
 
//     //     if(!boost::filesystem::exists(meta_path))
//     //     {
//     //         std::cout << timestamp << "Could not load meta file of scan/cam/img: " << positionNr << "/" << camNr << "/" << imageNr << std::endl;
//     //         return false;
//     //     }
 
//     //     std::cout << timestamp << "Loading " << image_path << std::endl;
//     //     image.image = cv::imread(image_path.string(), 1);
//     //     image.imageFile = image_path;
 
//     //     std::cout << timestamp << "Loading " << meta_path << std::endl;
//     //     loadPinholeModelFromYAML(meta_path, image.camera);
//     // }
//     // else
//     // {
//     //     std::cout << timestamp << "Warning: Image directory does not exist: "
//     //               << scan_image_dir << std::endl;
//     //     return false;
//     // }
 
//     return true;
// }
 
// void saveScanPositionToDirectory(const boost::filesystem::path& path, const ScanPosition& position, const size_t& positionNr)
// {
//     // // Save scan data
//     // std::cout << timestamp << "Saving scan postion " << positionNr << std::endl;
//     // if(position.scan)
//     // {
//     //     saveScanToDirectory(path, *position.scan, positionNr);
//     // }
//     // else
//     // {
//     //     std::cout << timestamp << "Warning: Scan position " << positionNr
//     //               << " contains no scan data." << std::endl;
//     // }
 
//     // // Save rgb camera recordings
//     // for(size_t cam_id = 0; cam_id < position.cams.size(); cam_id++)
//     // {
//     //     // store each image of camera
//     //     for(size_t img_id = 0; img_id < position.cams[cam_id]->images.size(); img_id++ )
//     //     {
//     //         saveScanImageToDirectory(path, *position.cams[cam_id]->images[img_id], positionNr, cam_id, img_id);
//     //     }
//     // }
// }
 
// void get_all(
//     const boost::filesystem::path& root,
//     const string& ext, vector<boost::filesystem::path>& ret)
// {
//     if(!boost::filesystem::exists(root) || !boost::filesystem::is_directory(root))
//     {
//         return;
//     }
 
//     boost::filesystem::directory_iterator it(root);
//     boost::filesystem::directory_iterator endit;
 
//     while(it != endit)
//     {
//         if(boost::filesystem::is_regular_file(*it) && it->path().extension() == ext)
//         {
//             ret.push_back(it->path().filename());
//         }
//         ++it;
//     }
// }
 
// bool loadScanPositionFromDirectory(
//     const boost::filesystem::path& path,
//     ScanPosition& position,
//     const size_t& positionNr)
// {
//     // bool scan_read = false;
//     // bool images_read = false;
 
//     // std::cout << timestamp << "Loading scan position " << positionNr << std::endl;
//     // Scan scan;
//     // if(!loadScanFromDirectory(path, scan, positionNr, true))
//     // {
//     //     std::cout << timestamp << "Warning: Scan position " << positionNr
//     //               << " does not contain scan data." << std::endl;
//     // } else {
//     //     position.scan = scan;
//     // }
 
 
//     // boost::filesystem::path img_directory = path / "scan_images";
//     // if(boost::filesystem::exists(img_directory))
//     // {
//     //     std::stringstream ss;
//     //     ss << std::setfill('0') << std::setw(5) << positionNr;
//     //     boost::filesystem::path scanimage_directory = img_directory / ss.str();
//     //     if(boost::filesystem::exists(scanimage_directory))
//     //     {
//     //         std::set<size_t> cam_ids = loadCamIdsFromDirectory(path, positionNr);
 
//     //         for(const size_t& cam_id : cam_ids)
//     //         {
//     //             ScanCameraPtr cam(new ScanCamera);
//     //             std::set<size_t> img_ids = loadImageIdsFromDirectory(path, positionNr, cam_id);
//     //             for(const size_t& img_id : img_ids)
//     //             {
//     //                 ScanImagePtr img(new ScanImage);
//     //                 loadScanImageFromDirectory(path, *img, positionNr, cam_id, img_id);
//     //                 cam->images.push_back(img);
//     //             }
//     //             position.cams.push_back(cam);
//     //         }
//     //     } else {
//     //         std::cout << timestamp << "Warning: Specified scan has no images." << std::endl;
//     //     }
 
//     // }
//     // else
//     // {
//     //     std::cout << timestamp << "Scan position " << positionNr
//     //               << " has no images." << std::endl;
//     // }
//     // return true;
// }
 
// void saveScanProjectToDirectory(const boost::filesystem::path& path, const ScanProject& project)
// {
//     boost::filesystem::create_directory(path);
 
//     YAML::Node yaml;
//     yaml["pose"] = project.pose;
//     std::ofstream out( (path / "meta.yaml").string() );
//     if (out.good())
//     {
//         out << yaml;
//     }
//     else
//     {
//         std::cout << timestamp << "Warning: Unable to open "
//                   << path.string() << "for writing." << std::endl;
//     }
 
//     for(size_t i = 0; i < project.positions.size(); i++)
//     {
//         saveScanPositionToDirectory(path, *project.positions[i], i);
//     }
// }
 
// bool loadScanProjectFromDirectory(const boost::filesystem::path& path, ScanProject& project)
// {
//     YAML::Node meta = YAML::LoadFile((path / "meta.yaml").string() );
//     project.pose = meta["pose"].as<Transformd>();
 
 
//     boost::filesystem::directory_iterator it(path / "scans");
//     boost::filesystem::directory_iterator endit;
 
//     std::set<size_t> scan_pos_ids = loadPositionIdsFromDirectory(path);
 
//     for(size_t scan_pos_id : scan_pos_ids)
//     {
//         ScanPositionPtr scan_pos(new ScanPosition);
//         loadScanPositionFromDirectory(path, *scan_pos, scan_pos_id);
//         project.positions.push_back(scan_pos);
//     }
 
 
//     return true;
// }
 
} // namespace lvr2