68 lines
1.8 KiB
Text
68 lines
1.8 KiB
Text
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#ifndef BASIC_SCAN_H
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#define BASIC_SCAN_H
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#include "scan.h"
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#include "frame.h"
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#include <vector>
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#include <map>
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class BasicScan : public Scan {
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public:
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static void openDirectory(const std::string& path, IOType type, int start, int end);
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static void closeDirectory();
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/*
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Scan(const double *euler, int maxDist = -1);
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Scan(const double rPos[3], const double rPosTheta[3], int maxDist = -1);
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Scan(const double _rPos[3], const double _rPosTheta[3], vector<double *> &pts);
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*/
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virtual ~BasicScan();
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virtual void setRangeFilter(double max, double min);
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virtual void setHeightFilter(double top, double bottom);
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virtual const char* getIdentifier() const { return m_identifier.c_str(); }
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virtual DataPointer get(const std::string& identifier);
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virtual void get(unsigned int types);
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virtual DataPointer create(const std::string& identifier, unsigned int size);
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virtual void clear(const std::string& identifier);
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virtual unsigned int readFrames();
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virtual void saveFrames();
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virtual unsigned int getFrameCount();
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virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type);
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protected:
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virtual void createSearchTreePrivate();
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virtual void calcReducedOnDemandPrivate();
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virtual void addFrame(AlgoType type);
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private:
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//! Path and identifier of where the scan is located
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std::string m_path, m_identifier;
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IOType m_type;
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double m_filter_max, m_filter_min, m_filter_top, m_filter_bottom;
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bool m_filter_range_set, m_filter_height_set;
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std::map<std::string, std::pair<unsigned char*, unsigned int>> m_data;
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std::vector<Frame> m_frames;
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//! Constructor for openDirectory
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BasicScan(const std::string& path, const std::string& identifier, IOType type);
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//! Initialization function
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void init();
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void createANNTree();
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void createOcttree();
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};
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#endif //BASIC_SCAN_H
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