reader_leica.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2022-2024 Simon Boche
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef __READER_LEICA_HPP
#define __READER_LEICA_HPP
 
#include "reader_base.hpp"
 
namespace se {
 
class LeicaReader : public Reader {
    public:
    LeicaReader(const Config& c);
 
    void restart();
 
    std::string name() const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    std::ifstream lidar_stream_;
    uint64_t ray_timestamp_ = 0;
    std::ifstream trajectory_stream_;
    uint64_t ts_prev_ = 0;
    uint64_t ts_curr_ = 0;
    Eigen::Vector3f pos_prev_, pos_curr_;
    Eigen::Quaternionf ori_prev_, ori_curr_;
 
    float azimuth_angular_resolution_;
    float elevation_angular_resolution_;
 
 
    ReaderStatus nextDepth(Image<float>& depth_image);
 
    ReaderStatus nextRay(Eigen::Vector3f& ray_measurement);
 
    ReaderStatus nextPose(Eigen::Isometry3f& T_WB);
 
    ReaderStatus nextRayBatch(
        const float batch_interval,
        std::vector<std::pair<Eigen::Isometry3f, Eigen::Vector3f>,
                    Eigen::aligned_allocator<std::pair<Eigen::Isometry3f, Eigen::Vector3f>>>&
            rayPoseBatch);
 
    static std::string getScanFilename(const std::string& dir);
};
 
} // namespace se
 
#endif //__READER_LEICA_HPP