lsscan.h

#pragma once
 
#include <core_api/lsglobaldefinitions.h>
#include <core_api/ref_ptr.h>
#include <core_api/lsobject.h>
#include <core_api/lspointtypes.h>
#include <core_api/lsscaniterator.h>
#include <core_api/lssphericaliterator.h>
#include <core_api/lspanoramapicture.h>
 
namespace SCENE_API {
 
// Forward declarations
class LSScan_Implementation;
 
class LSScan : public LSObject
{
    LS_UNCOPYABLE(LSScan)
 
public:
 
    enum ExportFormat
    {
        DXF = 0,    
        E57 = 1,    
        FLS = 2,    
        IGS = 3,    
        POD = 4,    
        PTS = 5,    
        PTX = 6,    
        WRL = 7,    
        XYB = 8,    
        XYZ = 9,    
        CPE = 10,   
        BMP = 11,   
        JPG = 12,   
        PNG = 13,   
        TIF = 14,   
        LAS = 15    
    };
 
    enum DataFormat
    {
        COLOR,      
        REFLECTION, 
        AUTO,       
        COLOR_AND_REFLECTION    
    };
 
    CORE_API_EXPORT bool dataAvailable(DataFormat format = AUTO) const;
 
    CORE_API_EXPORT bool dataLoaded(DataFormat format = AUTO) const;
 
    CORE_API_EXPORT LSResult::Result loadData(DataFormat format = AUTO);
 
    CORE_API_EXPORT void unloadData();
 
    CORE_API_EXPORT LSResult::Result exportData(
        LSString filePath, 
        ExportFormat format);
 
    CORE_API_EXPORT LSScanIterator<LSPointXYZRGB> getScanIterator();
 
    CORE_API_EXPORT LSScanIterator<LSPointXYZI> getScanReflectionIterator();
 
    CORE_API_EXPORT bool spatialDataAvailable() const;
 
    CORE_API_EXPORT LSResult::Result exportSpatialData(
        LSString filePath, 
        ExportFormat format);
 
    CORE_API_EXPORT LSIterator<LSPointXYZRGB> getSpatialScanIterator();
 
    CORE_API_EXPORT LSSphericalIterator<LSPointSphericalRGB> getSphericalCoordinatesIterator();
 
    CORE_API_EXPORT ref_ptr<const LSAttributeContainer> getScannerParameters();
 
    CORE_API_EXPORT ref_ptr<const LSAttributeContainer> getScannerParameters() const;
 
    CORE_API_EXPORT int getNumCols() const;
 
    CORE_API_EXPORT int getNumRows() const;
 
    CORE_API_EXPORT void setPointColor(int col, int row, uint8_t r, uint8_t g, uint8_t b);
 
    CORE_API_EXPORT void setPointReflection(int col, int row, float reflection);
 
    CORE_API_EXPORT void deletePoint(int col, int row);
 
    CORE_API_EXPORT void select2d(int colLeft, int colRight, int rowTop, int rowBottom);
 
    CORE_API_EXPORT LSResult::Result getOverlap(int& startColumn1, int& columns1, int& startColumn2, int& columns2) const;
 
    CORE_API_EXPORT bool isUnstructured() const;
 
    CORE_API_EXPORT bool getPointColor(int col, int row, uint8_t& r, uint8_t& g, uint8_t& b) const;
 
    CORE_API_EXPORT bool getPointColor(int col, int row, uint8_t& r, uint8_t& g, uint8_t& b, bool& isRGB) const;
 
    CORE_API_EXPORT bool getPointReflection(int col, int row, float& reflection) const;
 
    CORE_API_EXPORT LSScanIterator<LSPointXYZN> getScanNormalsIterator();
 
    CORE_API_EXPORT bool getPointNormal(int col, int row, float& nX, float& nY, float& nZ) const;
 
    CORE_API_EXPORT LSIterator<LSPointXYZN> getSpatialScanNormalsIterator();
 
 
    CORE_API_EXPORT LSResult::Result getNearestScanPoint(const uint64_t& time, int& row, int& col) const;
 
    CORE_API_EXPORT LSResult::Result getTimeOfScanPoint(int row, int col, uint64_t& time) const;
 
    CORE_API_EXPORT LSResult::Result getTimeOfSyncPulse(int col, uint64_t& time) const;
 
    CORE_API_EXPORT void createObjectMarker(unsigned int row, unsigned int col);
 
    CORE_API_EXPORT void selectPoly2d(LSPod<std::vector<Eigen::Vector2i>> poly);
 
    CORE_API_EXPORT LSPod<std::vector<ref_ptr<LSPanoramaPicture>>> getPanos() const;
 
protected:
    LS_INTERFACE(LSScan, LSObject)
};
 
}