3dpcp/.svn/pristine/ac/acf5bb63806f3b7b4b0b970c0af19d3a926cb9f0.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @file
* @brief IO of a 3D scan in velodyne raw file format
* @author Liwei. Computer School of Wuhan University, China.
*/
#ifndef __SCAN_IO_VELODYNE_FRAME_H__
#define __SCAN_IO_VELODYNE_FRAME_H__
#include <string>
using std::string;
#include <vector>
using std::vector;
#include "scan_io.h"
/**
* @brief 3D scan loader for VELODYNE scans
*
* The compiled class is available as shared object file
*/
class ScanIO_velodyne_frame : public ScanIO {
public:
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss);
};
// 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