3dpcp/.svn/pristine/8a/8aa0fd587375c1ce4a10896c482f7f46e412009b.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @file
* @brief IO of a 3D scan in rxp file format
* @author Thomas Escher
*/
#ifndef __SCAN_IO_RXP_H__
#define __SCAN_IO_RXP_H__
#include "scan_io.h"
#include "slam6d/point.h"
#include "riegl/scanlib.hpp"
using namespace scanlib;
using namespace std;
using namespace std::tr1;
class importer;
/**
* @brief 3D scan loader for RXP scans
*
* The compiled class is available as shared object file
*/
class ScanIO_rxp : public ScanIO {
public:
virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
virtual bool supports(IODataType type);
ScanIO_rxp() : dec(0), imp(0) {}
private:
std::tr1::shared_ptr<basic_rconnection> rc;
decoder_rxpmarker *dec;
importer *imp;
std::string old_path;
};
/**
* 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 scanlib::pointcloud
{
public:
importer(PointFilter& filter, int start, std::vector<double>* xyz, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation) :
pointcloud(false), // set this to true if you need gps aligned timing
filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation),
start(start), currentscan(0)
{}
inline int getCurrentScan() { return currentscan; }
inline void set(PointFilter& filter, std::vector<double>* xyz, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
{
this->filter = &filter;
this->xyz = xyz;
this->reflectance = reflectance;
this->amplitude = amplitude;
this->type = type;
this->deviation = deviation;
}
protected:
PointFilter* filter;
std::vector<double> *xyz;
std::vector<float> *reflectance;
std::vector<float> *amplitude;
std::vector<int> *type;
std::vector<float> *deviation;
int start;
int currentscan;
// overridden from pointcloud class
void on_echo_transformed(echo_type echo);
void on_frame_stop(const scanlib::frame_stop<iterator_type>& arg) {
scanlib::basic_packets::on_frame_stop(arg);
currentscan++;
}
};
#endif