64 lines
1.6 KiB
Text
64 lines
1.6 KiB
Text
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/**
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* @file
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* @brief IO of a 3D scan
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __SCAN_IO_H__
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#define __SCAN_IO_H__
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#include <string>
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using std::string;
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#include <vector>
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using std::vector;
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#include "point.h"
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/**
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* @brief IO of a 3D scan
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*
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* This class needs to be instantiated by a class loading
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* 3D scans from different file formats.
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*/
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class ScanIO {
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public:
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/**
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* Default constructor
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*/
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ScanIO() {}
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/**
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* Destructor
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*/
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virtual ~ScanIO() {}
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/**
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* Reads specified scans from given directory.
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*
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* Scan poses will NOT be initialized after a call
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* to this function.
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*
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* This function is pure virtual. The actual functions
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* for loading a 3D scan are called scan_io_*
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*
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* @param start Starts to read with this scan
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* @param end Stops with this scan
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* @param dir The directory from which to read
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* @param maxDist Reads only Points up to this Distance
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* @param minDist Reads only Points from this Distance
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* @param euler Initital pose estimates (will not be applied to the points
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* @param ptss Vector containing the read points
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*/
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virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
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double *euler, vector<Point> &ptss) = 0;
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};
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// Since the shared object files are loaded on the fly, we
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// need class factories
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// the types of the class factories
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typedef ScanIO* create_sio();
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typedef void destroy_sio(ScanIO*);
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#endif
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