3dpcp/.svn/pristine/f5/f53abef50cf6236de7d3ec8c2f832a1e7c35845a.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @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 std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
virtual void readPose(const char* dir_path, const char* identifier, double* pose);
virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
virtual bool supports(IODataType type);
int fileCounter;
};
#endif