src/lib/io/UosIO.hpp

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#ifndef UOSIO_H_
#define UOSIO_H_

#include <string>
#include <iomanip>
#include <iostream>
#include <cmath>
#include <fstream>

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

namespace lssr
{
template<typename T>
class UosIO
{
public:

    UosIO() : m_firstScan(-1), m_lastScan(-1) {}

    T** read(string dir, size_t &n);

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

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

private:

    T** readNewFormat(string dir, int first, int last, size_t &n);

    T** readOldFormat(string dir, int first, int last, size_t &n);

    Matrix4<float> parseFrameFile(ifstream& frameFile);

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

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

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

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


    int     m_firstScan;

    int     m_lastScan;
};

} // namespace lssr

#include "UosIO.tcc"

#endif /* UOSIO_H_ */