reader_newercollege.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020 Marija Popovic
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef __READER_NEWERCOLLEGE_HPP
#define __READER_NEWERCOLLEGE_HPP
 
#include "reader_base.hpp"
 
namespace se {
 
class NewerCollegeReader : public Reader {
    public:
    NewerCollegeReader(const Config& c);
 
    void restart();
 
    std::string name() const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    std::vector<std::string> scan_filenames_;
 
    ReaderStatus nextDepth(Image<float>& depth_image);
 
    static constexpr int8_t pixel_offset[64] = {
        0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,
        12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18,
        0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18, 0,  6,  12, 18};
 
    static std::vector<std::string> getScanFilenames(const std::string& dir);
};
 
} // namespace se
 
#endif