fileIO.hpp

#ifndef VELODYNEUTILS_FILE_IO_HPP
#define VELODYNEUTILS_FILE_IO_HPP

#include <sys/time.h> // Necessary for velodyneLib.h
#include <sys/types.h> // Necessary for velodyneLib.h and for libregionMap.h

#include <string>

#include <libregionMap.h>
#include <velodyne/velodyneLib.h>

#include <Eigen/Geometry>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include "points.hpp"

namespace jafar {
namespace velodyneutils {

class ReaderPosition {
public:
    ReaderPosition();
    ReaderPosition(const std::string& fileNameIn);
    ReaderPosition(const std::string& baseFileNameIn, int fileNumIn);
    ~ReaderPosition();

    const std::string& getFileName() const;
    const std::string& getBaseFileName() const;
    int getFileNum() const;
    int setFileName(const std::string& fileName);
    int setBaseFileName(const std::string& baseFileName);
    int setFileNum(int fileNum);
    int load(Eigen::Affine3f& output);

private:
    std::string fileName;
    std::string baseFileName;
    int fileNum;

    void composeFileName();
};

class ReaderVelodyneImage3D {
public:
    ReaderVelodyneImage3D();
    ReaderVelodyneImage3D(const std::string& fileNameIn,
                          bool oldImage3DEnabledIn,
                          VELODYNE_MODEL modelIn);
    ReaderVelodyneImage3D(const std::string& baseFileNameIn, int fileNumIn,
                          bool oldImage3DEnabledIn, VELODYNE_MODEL modelIn);
    ~ReaderVelodyneImage3D();

    const std::string& getFileName() const;
    const std::string& getBaseFileName() const;
    int getFileNum() const;
    int setFileName(const std::string& fileName);
    int setBaseFileName(const std::string& baseFileName);
    int setFileNum(int fileNum);
    void enableOldImage3D(bool enable);
    int setVelodyneModel(VELODYNE_MODEL model);
    int load(pcl::PointCloud<pcl::PointXYZL>& output);

private:
    std::string fileName;
    std::string baseFileName;
    int fileNum;
    bool oldImage3DEnabled;
    VELODYNE_MODEL model;

    void composeFileName();
};

class Reader3DImage {
public:
    Reader3DImage();
    Reader3DImage(const std::string& fileNameIn);
    Reader3DImage(const std::string& baseFileNameIn, int fileNumIn);
    ~Reader3DImage();

    const std::string& getFileName() const;
    const std::string& getBaseFileName() const;
    int getFileNum() const;
    int setFileName(const std::string& fileName);
    int setBaseFileName(const std::string& baseFileName);
    int setFileNum(int fileNum);

    int load(pcl::PointCloud<PointXYZIL>& output);

private:
    std::string fileName;
    std::string baseFileName;
    int fileNum;

    void composeFileName();
};

class ReaderRegionMap {
public:
    ReaderRegionMap();
    ReaderRegionMap(const std::string& fileNameIn);
    ReaderRegionMap(const std::string& baseFileNameIn, int fileNumIn);
    ~ReaderRegionMap();

    const std::string& getFileName() const;
    const std::string& getBaseFileName() const;
    int getFileNum() const;
    int setFileName(const std::string& fileName);
    int setBaseFileName(const std::string& baseFileName);
    int setFileNum(int fileNum);

    int load(pcl::PointCloud<PointRegionMap>& output);
    int load(REGION_MAP& output);

private:
    std::string fileName;
    std::string baseFileName;
    int fileNum;

    void composeFileName();
};

template<typename PointT>
class WriterPCD : pcl::PCDWriter {
public:
    typedef pcl::PCDWriter BaseClass;
    typedef pcl::PointCloud<PointT> PointCloud;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    WriterPCD();
    WriterPCD(bool binaryIn, const std::string& fileNameIn);
    WriterPCD(bool binaryIn, const std::string& baseFileNameIn, int fileNumIn);
    ~WriterPCD();

    const std::string& getFileName() const;
    const std::string& getBaseFileName() const;
    int getFileNum() const;
    void setInputCloud(const PointCloudConstPtr& input);
    int setBinary(bool binary);
    int setFileName(const std::string& fileName);
    int setBaseFileName(const std::string& baseFileName);
    int setFileNum(int fileNum);
    int write();

private:
    PointCloudConstPtr input_;
    bool binary;
    std::string fileName;
    std::string baseFileName;
    int fileNum;

    void composeFileName();
};

} // namespace velodyneutils
} // namespace jafar

#endif // VELODYNEUTILS_FILE_IO_HPP