52 lines
1.4 KiB
C
52 lines
1.4 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/FileSystem.h"
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#include <fstream>
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#include <iterator>
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#include <iomanip>
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namespace carla {
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namespace pointcloud {
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class PointCloudIO {
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public:
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template <typename PointIt>
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static void Dump(std::ostream &out, PointIt begin, PointIt end) {
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WriteHeader(out, begin, end);
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for (; begin != end; ++begin) {
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begin->WriteDetection(out);
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out << '\n';
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}
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}
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template <typename PointIt>
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static std::string SaveToDisk(std::string path, PointIt begin, PointIt end) {
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FileSystem::ValidateFilePath(path, ".ply");
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std::ofstream out(path);
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Dump(out, begin, end);
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return path;
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}
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private:
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template <typename PointIt> static void WriteHeader(std::ostream &out, PointIt begin, PointIt end) {
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DEBUG_ASSERT(std::distance(begin, end) >= 0);
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out << "ply\n"
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"format ascii 1.0\n"
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"element vertex " << std::to_string(static_cast<size_t>(std::distance(begin, end))) << "\n";
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begin->WritePlyHeaderInfo(out);
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out << "\nend_header\n";
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out << std::fixed << std::setprecision(4u);
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}
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};
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} // namespace pointcloud
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} // namespace carla
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