YarpCloudUtils.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_CLOUD_UTILS_HPP__
#define __YARP_CLOUD_UTILS_HPP__
 
#include <string>
#include <vector>
 
#include <yarp/os/Property.h>
#include <yarp/os/Searchable.h>
 
#include <yarp/sig/PointCloud.h>
#include <yarp/sig/Vector.h>
 
namespace roboticslab
{
 
namespace YarpCloudUtils
{
 
template <typename T>
bool savePLY(const std::string & filename, const yarp::sig::PointCloud<T> & cloud, const yarp::sig::VectorOf<int> & indices, bool isBinary = true);
 
template <typename T>
bool savePLY(const std::string & filename, const yarp::sig::PointCloud<T> & cloud, bool isBinary = true)
{
    return savePLY(filename, cloud, {}, isBinary);
}
 
template <typename T>
bool loadPLY(const std::string & filename, yarp::sig::PointCloud<T> & cloud, yarp::sig::VectorOf<int> & indices);
 
template <typename T>
bool loadPLY(const std::string & filename, yarp::sig::PointCloud<T> & cloud)
{
    yarp::sig::VectorOf<int> indices;
    return loadPLY(filename, cloud, indices);
}
 
template <typename T1, typename T2 = T1>
bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
                   yarp::sig::PointCloud<T2> & meshPoints,
                   yarp::sig::VectorOf<int> & meshIndices,
                   const std::vector<yarp::os::Property> & options);
 
template <typename T1, typename T2 = T1>
bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
                   yarp::sig::PointCloud<T2> & meshPoints,
                   yarp::sig::VectorOf<int> & meshIndices,
                   const yarp::os::Searchable & config,
                   const std::string & collection = "meshPipeline");
 
template <typename T1, typename T2 = T1>
bool processCloud(const yarp::sig::PointCloud<T1> & in,
                  yarp::sig::PointCloud<T2> & out,
                  const std::vector<yarp::os::Property> & options);
 
template <typename T1, typename T2 = T1>
bool processCloud(const yarp::sig::PointCloud<T1> & in,
                  yarp::sig::PointCloud<T2> & out,
                  const yarp::os::Searchable & config,
                  const std::string & collection = "cloudPipeline");
 
} // namespace YarpCloudUtils
 
} // namespace roboticslab
 
#endif // __YARP_CLOUD_UTILS_HPP__