Refactor ArrayUtils.

core:
- ArrayUtils::saveTXT() has been temporarily moved into the global
namespace.
- Added a few more types to support CUDA.
- PortableFloatMapIO now takes arguments in (input_array, filename)
order.

cuda:
- saveTXT() now just casts to libcgt::core::vecmath types and calls
libcgt::core::saveTXT().
- templatize device array versions.

qt_interop:
- Add FileSystem convenience function to create directory trees.

apps/nvm2pose/src/main.cpp

@@ -19,8 +19,7 @@ DEFINE_string( output_file, "", "Output POSE file." );
 
 // TODO: output pose format and direction
 // TODO: whether to rotate the poses to GL
-// TODO: timestamp map
-// TODO: get true pose somehow from fiducial tracking.
+// TODO: rgbdtool should output a timestamp map.
 
 using libcgt::camera_wrappers::PoseStreamMetadata;
 using libcgt::camera_wrappers::PoseOutputStream;

apps/rgbdtool/src/main.cpp

@@ -28,7 +28,7 @@ DEFINE_bool( list_streams, false,
 DEFINE_bool( dump_frames, false,
     "Set this flag to write undistorted frames to the given directory." );
 DEFINE_bool( dump_timestamps, false,
-    "Set this flag to dump \"frame_index, timestampns\" pairs (sans quotes). "
+    "Set this flag to dump \"frame_index, timestamp_ns\" pairs (sans quotes). "
     "If --output is not set, writes to stdout.\n" );
 
 // Options.