wrapper_collada.h

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#ifndef _wrapper_collada_H_
#define _wrapper_collada_H_

//####################################################################


//####################################################################
#include <ros/ros.h>  /* Added by V. Santos, 15-Abr-2013,10:12 */
//dom
#include <dae.h>
#include <dom/domConstants.h>
#include <dom/domCOLLADA.h>
#include <dom/domProfile_common.h>
#include <dae/daeSIDResolver.h>
#include <dom/domInstance_controller.h>
#include <dae/domAny.h>
#include <dae/daeErrorHandler.h>
#include <dae/daeUtils.h>
#include <dom/domImage.h>
#include <modules/stdErrPlugin.h>
#include <dom/domEllipsoid.h>
#include <dom/domInput_global.h>
#include <dom/domAsset.h>
//#include <dom/domLimits_sub.h>

//pcl
#include <pcl_ros/point_cloud.h>                                                
#include <pcl/point_types.h>


//####################################################################

using namespace ColladaDOM150;

class wrapper_collada
{
        public:
                wrapper_collada(std::string fl)
                {
                        file_name = fl;
                        root = dae.add(file_name);
                        daeElement* asset = root->add("asset");
                        //daeElement* contributor = asset->add("contributor");
                        daeElement* created = asset->add("created");
                        daeElement* modified = asset->add("modified");
                        const char* date = "2008-04-08T13:07:52-08:00";                                             
                        created->setCharData(date);
                        modified->setCharData(date);

                        //Visual scene
                        daeElement* visualSceneLib = root->add("library_visual_scenes");
                        visualScene = visualSceneLib->add("visual_scene");
                        visualScene->setAttribute("id", "defaultScene");

                        // Add a <scene>
                        root->add("scene instance_visual_scene")->setAttribute("url", makeUriRef("defaultScene").c_str());
                }

                ~wrapper_collada(){};

                void add_polygon_fixed_color(std::string polygon_name, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,  pcl::PointCloud<pcl::PointXYZ>::Ptr normal, float r, float g, float b, float a); 

                void add_polygon_fixed_color_on_both_sides(std::string polygon_name, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,  pcl::PointCloud<pcl::PointXYZ>::Ptr normal, float r, float g, float b, float a)
                {
                        //call the standard add_polygon_fixed_color
                        add_polygon_fixed_color(polygon_name, cloud,  normal, r, g, b, a); 
                
                        //now call the same function with the fliped normal
                        //First flip the normal
                        pcl::PointCloud<pcl::PointXYZ> normal_flip;
                        pcl::PointXYZ p;
                        p.x = -normal->points[0].x;
                        p.y = -normal->points[0].y;
                        p.z = -normal->points[0].z;
                        normal_flip.points.push_back(p);

                        //now reverse the cloud pts orientation
                        pcl::PointCloud<pcl::PointXYZ> cloud_flip;

                        for (int i=((int)cloud->points.size()-1); i>=0; i--)
                        {
                                cloud_flip.points.push_back(cloud->points[i]);                  
                        }

                        //Finally, add a new fliped polygon
                        add_polygon_fixed_color((polygon_name + "_flip").c_str(), cloud_flip.makeShared(),  normal_flip.makeShared(), r, g, b, a); 
                
                }; 


                void write_file()
                {
                        ROS_INFO("Writting collada file %s",file_name.c_str());
                        dae.writeAll();
                }


        private:

                DAE dae;
                std::string file_name;
                daeElement* root;
                daeElement* visualScene;

                //private methods
                void my_addInput(daeElement* triangles,
                    const std::string& semantic,
                    const std::string& srcID,
                    int offset);


                std::string makeUriRef(const std::string& id);

                void my_addGeometry(daeElement* root);
                void my_addVisualScene(daeElement* root);
                void my_addEffect(daeElement* root);
                void my_addMaterial(daeElement* root); 
                void my_addImage(daeElement* root);
                void my_addSource(daeElement* mesh,
                                                         const std::string& srcID,
                                                         const std::string& paramNames,
                                                         domFloat values[],
                                                         int valueCount);
                daeTArray<double> pcl_pointcloud_tp_daearray(pcl::PointCloud<pcl::PointXYZ>::Ptr pc);
                template<typename T_wc>
                daeTArray<T_wc> rawArrayToDaeArray(T_wc rawArray[], size_t count);

};

#endif