91 lines
2.9 KiB
Text
91 lines
2.9 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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* @author Thomas Escher
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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 "slam6d/io_types.h"
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#include "slam6d/pointfilter.h"
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#include <string>
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#include <list>
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#include <map>
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#include <vector>
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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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* Read a directory and return all possible scans in the [start,end] interval.
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*
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* @param dir_path The directory from which to read the scans
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* @param start Starting index
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* @param end Last index
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* @return List of IO-specific identifiers of scans, matching the search
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*/
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0;
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/**
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* Reads the pose from a dedicated pose file or from the scan file.
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*
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* @param dir_path The directory the scan is contained in
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* @param scan_identifier IO-specific identifier for the particular scan
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* @param pose Pointer to an existing double[6] array where the pose is saved in
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*/
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virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0;
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/**
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* Given a scan identifier, load the contents of this particular scan.
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*
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* @param dir_path The directory the scan is contained in
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* @param identifier IO-specific identifier for the particular scan
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* @param filter Filter object which each point is tested on by its position
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*/
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virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz = 0, std::vector<unsigned char>* rgb = 0, std::vector<float>* reflectance = 0, std::vector<float>* temperature = 0, std::vector<float>* amplitude = 0, std::vector<int>* type = 0, std::vector<float>* deviation = 0) = 0;
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/**
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* Returns whether this ScanIO can load the requested data from a scan.
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*
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* @param type data channel request
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* @return whether it's supported or not
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*/
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virtual bool supports(IODataType type) = 0;
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/**
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* @brief Global mapping of io_types to single instances of ScanIOs.
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*
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* If the ScanIO doesn't exist, it will be created and saved in a map.
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* Otherwise, the matching ScanIO will be returned.
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*
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* @param type Key identifying the ScanIO
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* @return The newly created or found ScanIO
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*/
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static ScanIO* getScanIO(IOType iotype);
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//! Delete all ScanIO instances and (lazy) try to unload the libraries.
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static void clearScanIOs();
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private:
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static std::map<IOType, ScanIO *> m_scanIOs;
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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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