scan_io.h

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#ifndef __SCAN_IO_H__
#define __SCAN_IO_H__

#include "slam6d/io_types.h"
#include "slam6d/pointfilter.h"

#include <string>
#include <list>
#include <map>
#include <vector>



class ScanIO {
public:
  virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0;
  
  virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0;

  virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz = 0, std::vector<unsigned char>* rgb = 0, std::vector<float>* reflectance = 0, std::vector<float>* amplitude = 0, std::vector<int>* type = 0, std::vector<float>* deviation = 0) = 0;
  
  virtual bool supports(IODataType type) = 0;
  
  static ScanIO* getScanIO(IOType iotype);
  
  static void clearScanIOs();
private:
  static std::map<IOType, ScanIO *> m_scanIOs;
};

// Since the shared object files are loaded on the fly, we
// need class factories

// the types of the class factories
typedef ScanIO* create_sio();
typedef void destroy_sio(ScanIO*);

#endif