BoctreeIO.hpp

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#ifndef BOCTREEIO_HPP_
#define BOCTREEIO_HPP_

#include "lvr2/io/BaseIO.hpp"

#include "lvr2/geometry/BaseVector.hpp"
#include "lvr2/geometry/Matrix4.hpp"

#include <boost/filesystem.hpp>

#include "slam6d/scan_io_oct.h"


namespace lvr2
{

using Vec = BaseVector<float>;

class BoctreeIO : public BaseIO
{


public:

    BoctreeIO();
    virtual ~BoctreeIO();

    virtual ModelPtr read(string filename );


    virtual void save( string filename );

private:
    Matrix4<Vec> parseFrameFile(ifstream& frameFile);
};

} /* namespace lvr2 */

#endif /* BOCTREEIO_HPP_ */