UosIO.hpp

Go to the documentation of this file.

#ifndef UOSIO_H_
#define UOSIO_H_

#define _USE_MATH_DEFINES

#include <string>
#include <iomanip>
#include <iostream>
#include <math.h>
#include <fstream>
#include <sstream>
#include <vector>

#include "lvr2/io/BaseIO.hpp"
#include "lvr2/io/AsciiIO.hpp"

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

using std::string;
using std::fstream;
using std::stringstream;

namespace lvr2
{

using Vec = BaseVector<float>;

class UosIO : public BaseIO
{

public:

    UosIO() :
        m_firstScan(-1),
        m_lastScan(-1),
        m_saveToDisk(false),
        m_reductionTarget(0),
        m_numScans(0),
        m_saveRemission(false),
        m_saveRemissionColor(false){}

    ModelPtr read(string dir);


    void setFirstScan(int n) { m_firstScan = n;}


    void setLastScan(int n) {m_lastScan = n;}


    void reduce(string dir, string target, int reduction = 1);


    void save(string filename) {}



    void saveRemissionAsColor(bool convert) {m_saveRemissionColor = convert;}


    void saveRemission(bool yes) { m_saveRemission= yes;}


    Matrix4<Vec> parseFrameFile(ifstream& frameFile);

private:

    void readNewFormat(ModelPtr &m, string dir, int first, int last, size_t &n);


    void readOldFormat(ModelPtr &m, string dir, int first, int last, size_t &n);


    inline std::string to_string(const int& t, int width)
    {
      stringstream ss;
      ss << std::setfill('0') << std::setw(width) << t;
      return ss.str();
    }


    inline std::string to_string(const int& t)
    {
      stringstream ss;
      ss << t;
      return ss.str();
    }


    inline float rad(const float deg)
    {
                return (float)((2 * M_PI * deg) / 360);
    }


    inline float deg(const float rad)
    {
                return (float)((rad * 360) / (2 * M_PI));
    }


    int     m_firstScan;

    int     m_lastScan;

    bool    m_saveToDisk;

    ofstream    m_outputFile;

    int     m_numScans;

    int     m_reductionTarget;

    bool    m_saveRemissionColor;

    bool    m_saveRemission;

};

} // namespace lvr2

#endif /* UOSIO_H_ */