83 lines
2.6 KiB
Text
83 lines
2.6 KiB
Text
/**
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* @file
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* @brief IO of a 3D scan in rxp file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_RXP_H__
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#define __SCAN_IO_RXP_H__
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#include "scan_io.h"
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#include "slam6d/point.h"
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#include "riegl/scanlib.hpp"
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using namespace scanlib;
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using namespace std;
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using namespace std::tr1;
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class importer;
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/**
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* @brief 3D scan loader for RXP 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_rxp : 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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ScanIO_rxp() : dec(0), imp(0) {}
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private:
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std::tr1::shared_ptr<basic_rconnection> rc;
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decoder_rxpmarker *dec;
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importer *imp;
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std::string old_path;
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};
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/**
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* The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class.
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*
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* Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com .
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*/
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class importer : public scanlib::pointcloud
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{
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public:
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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) :
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pointcloud(false), // set this to true if you need gps aligned timing
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filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation),
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start(start), currentscan(0)
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{}
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inline int getCurrentScan() { return currentscan; }
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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)
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{
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this->filter = &filter;
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this->xyz = xyz;
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this->reflectance = reflectance;
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this->amplitude = amplitude;
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this->type = type;
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this->deviation = deviation;
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}
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protected:
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PointFilter* filter;
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std::vector<double> *xyz;
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std::vector<float> *reflectance;
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std::vector<float> *amplitude;
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std::vector<int> *type;
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std::vector<float> *deviation;
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int start;
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int currentscan;
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// overridden from pointcloud class
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void on_echo_transformed(echo_type echo);
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void on_frame_stop(const scanlib::frame_stop<iterator_type>& arg) {
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scanlib::basic_packets::on_frame_stop(arg);
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currentscan++;
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}
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};
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#endif
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