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49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
#include <vector>
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#include "slam6d/scan.h"
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#include "slam6d/managedScan.h"
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/**
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* The class manages all scans and the frames of the scans
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* It reads all scans and frame information and holds an object for the
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* scans and the transformationmatrices
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*
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* @author Uwe Hebbelmann, Andre Schemschatt, Sebastian Stock
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* date 14.2.08
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*/
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class scanmanager {
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private:
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/** Vector for the transformation of all scans */
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std::vector < std::vector <double*> > metaMatrix;
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/** @brief Reads the frame files that were created by Slam6D */
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void readFrames(string inputdir,
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int start,
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int end,
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bool readInitial,
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bool correctYAxis);
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public:
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/** @brief Ctor */
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scanmanager();
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/** @bried DTor */
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~scanmanager();
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/** @brief Reads scans, frames and the transformationmatrix */
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void startscan(string inputdir, string outputdir, IOType scantype,
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int start, int end, bool readInitial,
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int max_distance, int min_distance,
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bool correctYAxis);
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/** @brief Getter for the number of scans */
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size_t getScanCount() const;
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/** @brief Returns scan with number i */
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Scan& getScan(int i);
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/** @brief Returns transformationmatrix with number i */
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const std::vector <double*>& getMatrix(int i);
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};
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