3dpcp/include/grid/scanmanager.h
2012-09-16 14:33:11 +02:00

48 lines
1.3 KiB
C++

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