32 lines
1,023 B
Text
32 lines
1,023 B
Text
/**
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* @file
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* @brief IO of a 3D scan in velodyne raw file format
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* @author Liwei. Computer School of Wuhan University, China.
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*/
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#ifndef __SCAN_IO_VELODYNE_H__
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#define __SCAN_IO_VELODYNE_H__
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#include <string>
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using std::string;
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#include <vector>
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using std::vector;
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for VELODYNE scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_velodyne : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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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);
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virtual bool supports(IODataType type);
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int fileCounter;
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};
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#endif
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