libpointmatcher 1.0.2
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal 00002 // vim: ts=4:sw=4:noexpandtab 00003 /* 00004 00005 Copyright (c) 2010--2012, 00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland 00007 You can contact the authors at <f dot pomerleau at gmail dot com> and 00008 <stephane at magnenat dot net> 00009 00010 All rights reserved. 00011 00012 Redistribution and use in source and binary forms, with or without 00013 modification, are permitted provided that the following conditions are met: 00014 * Redistributions of source code must retain the above copyright 00015 notice, this list of conditions and the following disclaimer. 00016 * Redistributions in binary form must reproduce the above copyright 00017 notice, this list of conditions and the following disclaimer in the 00018 documentation and/or other materials provided with the distribution. 00019 * Neither the name of the <organization> nor the 00020 names of its contributors may be used to endorse or promote products 00021 derived from this software without specific prior written permission. 00022 00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY 00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 00034 */ 00035 00036 #ifndef __POINTMATCHER_IO_H 00037 #define __POINTMATCHER_IO_H 00038 00039 #include "PointMatcher.h" 00040 00042 template<typename T> 00043 struct PointMatcherIO 00044 { 00045 typedef typename PointMatcher<T>::Vector Vector; 00046 typedef typename PointMatcher<T>::Matrix Matrix; 00047 typedef typename PointMatcher<T>::DataPoints DataPoints; 00048 typedef typename PointMatcher<T>::TransformationParameters TransformationParameters; 00049 typedef typename PointMatcher<T>::Matrix Parameters; 00050 00051 // CSV 00052 00053 static DataPoints loadCSV(const std::string& fileName); 00054 static DataPoints loadCSV(std::istream& is); 00055 00056 static void saveCSV(const DataPoints& data, const std::string& fileName); 00057 static void saveCSV(const DataPoints& data, std::ostream& os); 00058 00059 // VTK 00060 00061 static DataPoints loadVTK(const std::string& fileName); 00062 static DataPoints loadVTK(std::istream& is); 00063 00064 static void saveVTK(const DataPoints& data, const std::string& fileName); 00065 00067 struct FileInfo 00068 { 00069 typedef Eigen::Matrix<T, 3, 1> Vector3; 00070 00071 std::string readingFileName; 00072 std::string referenceFileName; 00073 std::string configFileName; 00074 TransformationParameters initialTransformation; 00075 TransformationParameters groundTruthTransformation; 00076 Vector3 gravity; 00077 00078 FileInfo(const std::string& readingPath="", const std::string& referencePath="", const std::string& configFileName="", const TransformationParameters& initialTransformation=TransformationParameters(), const TransformationParameters& groundTruthTransformation=TransformationParameters(), const Vector& grativity=Vector3::Zero()); 00079 }; 00080 00082 struct FileInfoVector: public std::vector<FileInfo> 00083 { 00084 FileInfoVector(); 00085 FileInfoVector(const std::string& fileName, std::string dataPath = "", std::string configPath = ""); 00086 00087 protected: 00088 std::string localToGlobalFileName(const std::string& path, const std::string& fileName); 00089 bool findTransform(const PointMatcherSupport::CsvElements& data, const std::string& prefix, unsigned dim); 00090 TransformationParameters getTransform(const PointMatcherSupport::CsvElements& data, const std::string& prefix, unsigned dim, unsigned line); 00091 }; 00092 }; 00093 00094 #endif // __POINTMATCHER_IO_H