85 lines
2 KiB
Text
85 lines
2 KiB
Text
/**
|
|
* @file
|
|
* @brief IO of 3D scans in Riegl file format
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#ifndef __SCAN_IO_RXP_H__
|
|
#define __SCAN_IO_RXP_H__
|
|
|
|
#include <string>
|
|
using std::string;
|
|
#include <vector>
|
|
using std::vector;
|
|
|
|
#include "scan_io.h"
|
|
#include "riegl/scanlib.hpp"
|
|
using namespace scanlib;
|
|
using namespace std;
|
|
using namespace std::tr1;
|
|
|
|
class importer;
|
|
|
|
/**
|
|
* @brief 3D scan loader for Riegl scans in the binary rxp format
|
|
*
|
|
* The compiled class is available as shared object file
|
|
*/
|
|
class ScanIO_rxp : public ScanIO {
|
|
std::tr1::shared_ptr<basic_rconnection> rc;
|
|
decoder_rxpmarker *dec;
|
|
importer *imp;
|
|
public:
|
|
ScanIO_rxp() : dec(0), imp(0) {}
|
|
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
|
|
double *euler, vector<Point> &ptss);
|
|
};
|
|
|
|
|
|
/**
|
|
* The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class.
|
|
*
|
|
* Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com .
|
|
*/
|
|
class importer
|
|
: public pointcloud
|
|
{
|
|
vector<Point> *o;
|
|
|
|
public:
|
|
importer(vector<Point> *o_, int maxDist, int minDist, int _s = 0 )
|
|
: pointcloud(false) // set this to true if you need gps aligned timing
|
|
, o(o_), start(_s)
|
|
{
|
|
maxD = maxDist;
|
|
minD = minDist;
|
|
currentscan = 0;
|
|
}
|
|
|
|
int getCurrentScan() {return currentscan;};
|
|
|
|
protected:
|
|
int start;
|
|
int maxD;
|
|
int minD;
|
|
int currentscan;
|
|
// overridden from pointcloud class
|
|
void on_echo_transformed(echo_type echo);
|
|
|
|
void on_frame_stop(const frame_stop<iterator_type>& arg) {
|
|
basic_packets::on_frame_stop(arg);
|
|
currentscan++;
|
|
}
|
|
|
|
|
|
};
|
|
|
|
// 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
|