You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
36 lines
798 B
Plaintext
36 lines
798 B
Plaintext
/**
|
|
* @file
|
|
* @brief IO of a 3D scan in velodyne raw file format
|
|
* @author Liwei. Computer School of Wuhan University, China.
|
|
*/
|
|
|
|
#ifndef __SCAN_IO_VELODYNE_FRAME_H__
|
|
#define __SCAN_IO_VELODYNE_FRAME_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_frame : public ScanIO {
|
|
public:
|
|
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
|
|
double *euler, vector<Point> &ptss);
|
|
};
|
|
|
|
// Since this shared object file is loaded on the fly, we
|
|
// need class factories
|
|
|
|
// the types of the class factories
|
|
typedef ScanIO* create_sio();
|
|
typedef void destroy_sio(ScanIO*);
|
|
|
|
#endif
|