79 lines
2.3 KiB
Text
79 lines
2.3 KiB
Text
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#ifndef MANAGED_SCAN_H
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#define MANAGED_SCAN_H
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#include "scan.h"
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#include "scanserver/sharedScan.h"
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class ManagedScan : public Scan {
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public:
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static void openDirectory(const std::string& path, IOType type,
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int start, int end = -1);
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static void closeDirectory();
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static std::size_t getMemorySize();
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virtual ~ManagedScan();
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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 void setReductionParameter(double voxelSize, int nrpts = 0,
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PointType pointtype = PointType());
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void setShowReductionParameter(double voxelSize, int nrpts = 0,
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PointType pointtype = PointType());
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virtual void setOcttreeParameter(double reduction_voxelSize,
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double octtree_voxelSize, PointType pointtype,
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bool loadOct, bool saveOct);
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virtual const char* getIdentifier() const { return m_shared_scan->getIdentifier(); }
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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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//! Reference to the shared scan
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SharedScan* m_shared_scan;
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//! SharedScan vector to be deleted on closeDirectory
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static SharedScanVector* shared_scans;
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//! Flag to keep track of whether we have to update/create reduced points at the start
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bool m_reduced_ready;
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//! Flag to reset the persistent frames on write actions in slam to avoid a clear call
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bool m_reset_frames_on_write;
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//! Voxelsize of the octtree used for reduction
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double show_reduction_voxelSize;
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//! Which point to take out of the reduction octtree, 0 for center
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int show_reduction_nrpts;
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//! Pointtype used for the reduction octtree
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PointType show_reduction_pointtype;
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ManagedScan(SharedScan* shared_scan);
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//! Create reduced points for show
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void calcReducedShow();
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//! Create Octtree for show
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void createOcttree();
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};
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#endif //MANAGED_SCAN_H
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