86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: file_grabber.h 8413 2013-01-15 08:37:39Z sdmiller $
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*
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*/
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#pragma once
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#include <pcl/point_cloud.h>
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namespace pcl
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{
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/** \brief FileGrabber provides a container-style interface for grabbers which operate on fixed-size input
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* \author Stephen Miller
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* \ingroup io
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*/
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template <typename PointT>
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class PCL_EXPORTS FileGrabber
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{
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public:
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/** \brief Empty destructor */
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virtual ~FileGrabber () {}
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/** \brief operator[] Returns the idx-th cloud in the dataset, without bounds checking.
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* Note that in the future, this could easily be modified to do caching
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* \param[in] idx The frame to load
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*/
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virtual const typename pcl::PointCloud<PointT>::ConstPtr
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operator[] (std::size_t idx) const = 0;
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/** \brief size Returns the number of clouds currently loaded by the grabber */
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virtual std::size_t
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size () const = 0;
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/** \brief at Returns the idx-th cloud in the dataset, with bounds checking
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* \param[in] idx The frame to load
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*/
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virtual const typename pcl::PointCloud<PointT>::ConstPtr
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at (std::size_t idx) const
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{
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if (idx >= size ())
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{
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// Throw error
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throw pcl::IOException ("[pcl::FileGrabber] Attempted to access element which is out of bounds!");
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}
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return (operator[] (idx));
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}
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};
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}
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