/**
 * @file
 * @brief IO of a 3D scan given in ply format
 * @author Andreas Nuechter
 */

#ifndef __SCAN_IO_PLY_H__
#define __SCAN_IO_PLY_H__

#include "scan_io.h"


/**
 * @brief 3D scan loader for UOS scans
 *
 * The compiled class is available as shared object file
 */
class ScanIO_ply : 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>* temperature,
				    std::vector<float>* amplitude,
				    std::vector<int>* type,
				    std::vector<float>* deviation);
  virtual bool supports(IODataType type);
};

#endif