60 lines
1.6 KiB
Text
60 lines
1.6 KiB
Text
/**
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* @file scan_cv.h
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* @brief load 3D Scans in opencv format for featuer based registration.
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* This class is an 3D scan container for scans that have different scan file formats
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* and add them to a OpenCV Mat data type also normalize the reflectance.
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* @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
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* @date Date: 2012/05/9 2:00
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*/
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#ifndef SCAN_CV_H_
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#define SCAN_CV_H_
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#include "fbr_global.h"
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#include "slam6d/scan.h"
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#include "slam6d/managedScan.h"
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namespace fbr{
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/**
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* @class scan_cv
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* @brief class for 3D scans in open CV Mat data type
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* @param sDir name and dir of the input scan file
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* @param scan Mat data type which contains the 3D Scan
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* @param sNumber input scan number
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* @param nPoints Number of points
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* @param zmax max value in z direction
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* @param zmin min value in z direction
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* @param sFormat input scan file format in IOType
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*/
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class scan_cv{
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string sDir;
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cv::Mat scan;
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unsigned int sNumber;
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unsigned int nPoints;
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double zMax;
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double zMin;
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IOType sFormat;
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public:
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/**
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* constructor of class scan_cv
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* @param dir directory of the input scan file
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* @param number input scan number
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* @param format input scan file format
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*/
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scan_cv (string dir, unsigned int number, IOType format);
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/**
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* @brief read scan file and convert it to open cv Mat
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*/
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void convertScanToMat();
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string getScanDir();
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unsigned int getScanNumber();
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unsigned int getNumberOfPoints();
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double getZMin();
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double getZMax();
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IOType getScanFormat();
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cv::Mat getMatScan();
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void getDescription();
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};
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}
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#endif /* SCAN_CV_H_ */
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