io.h

#ifndef _SUPER4PCS_IO_IO_H
#define _SUPER4PCS_IO_IO_H

#include "super4pcs/shared4pcs.h"
#include "super4pcs/utils/disablewarnings.h"

#include <fstream>
#include <iostream>
#include <string>

#include <Eigen/Core>

#ifndef _MSC_VER
#include <sys/time.h>
#include <unistd.h>
#endif
#include <stdlib.h>


struct tripple {
  int a;
  int b;
  int c;
  int n1;
  int n2;
  int n3;
  int t1;
  int t2;
  int t3;
  tripple() {}
  tripple(int _a, int _b, int _c) : a(_a), b(_b), c(_c) {}
};

class IOManager{
public:
  enum MATRIX_MODE {
      POLYWORKS 
  };

public:
  // Obj read/write simple functions.
  bool ReadObject(const char *name,
                  std::vector<GlobalRegistration::Point3D> &v,
                  std::vector<Eigen::Matrix2f> &tex_coords,
                  std::vector<typename GlobalRegistration::Point3D::VectorType> &normals,
                  std::vector<tripple> &tris,
                  std::vector<std::string> &mtls);
  bool WriteObject(const char *name,
                   const std::vector<GlobalRegistration::Point3D> &v,
                   const std::vector<Eigen::Matrix2f> &tex_coords,
                   const std::vector<typename GlobalRegistration::Point3D::VectorType> &normals,
                   const std::vector<tripple> &tris,
                   const std::vector<std::string> &mtls);

  bool WriteMatrix(const std::string& name,
                   const Eigen::Ref<const Eigen::Matrix<double, 4, 4> >& mat,
                   MATRIX_MODE mode);
private:
  bool
  ReadPly(const char *name,
          std::vector<GlobalRegistration::Point3D> &v,
          std::vector<typename GlobalRegistration::Point3D::VectorType> &normals);

  bool
  ReadPtx(const char *name,
          std::vector<GlobalRegistration::Point3D> &v);

  bool
  ReadObj(const char *name,
          std::vector<GlobalRegistration::Point3D> &v,
          std::vector<Eigen::Matrix2f> &tex_coords,
          std::vector<typename GlobalRegistration::Point3D::VectorType> &normals,
          std::vector<tripple> &tris,
          std::vector<std::string> &mtls);

  bool
  WritePly(std::string name,
           const std::vector<GlobalRegistration::Point3D> &v,
           const std::vector<typename GlobalRegistration::Point3D::VectorType> &normals);

  bool
  WriteObj(std::string name,
           const std::vector<GlobalRegistration::Point3D> &v,
           const std::vector<Eigen::Matrix2f> &tex_coords,
           const std::vector<typename GlobalRegistration::Point3D::VectorType> &normals,
           const std::vector<tripple> &tris, const std::vector<std::string> &mtls);


  std::ofstream &
  formatPolyworksMatrix(const Eigen::Ref<const Eigen::Matrix<double, 4, 4> >& mat,
                        std::ofstream &sstr);
}; // class IOMananger

#endif // IO_H