35 lines
780 B
C++
35 lines
780 B
C++
/**
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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 int readScans(int start, int end, string &dir, int maxDist, int mindist,
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double *euler, vector<Point> &ptss);
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};
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// Since this shared object file is loaded on the fly, we
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// need class factories
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// the types of the class factories
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typedef ScanIO* create_sio();
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typedef void destroy_sio(ScanIO*);
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#endif
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