36 lines
780 B
Text
36 lines
780 B
Text
|
/**
|
||
|
|
* @file
|
||
|
|
* @brief IO of a 3D scan in velodyne raw file format
|
||
|
|
* @author Liwei. Computer School of Wuhan University, China.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __SCAN_IO_VELODYNE_H__
|
||
|
|
#define __SCAN_IO_VELODYNE_H__
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
using std::string;
|
||
|
|
#include <vector>
|
||
|
|
using std::vector;
|
||
|
|
|
||
|
|
#include "scan_io.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief 3D scan loader for VELODYNE scans
|
||
|
|
*
|
||
|
|
* The compiled class is available as shared object file
|
||
|
|
*/
|
||
|
|
class ScanIO_velodyne : public ScanIO {
|
||
|
|
public:
|
||
|
|
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
|
||
|
|
double *euler, vector<Point> &ptss);
|
||
|
|
};
|
||
|
|
|
||
|
|
// Since this shared object file is loaded on the fly, we
|
||
|
|
// need class factories
|
||
|
|
|
||
|
|
// the types of the class factories
|
||
|
|
typedef ScanIO* create_sio();
|
||
|
|
typedef void destroy_sio(ScanIO*);
|
||
|
|
|
||
|
|
#endif
|