68 lines
2.5 KiB
C
68 lines
2.5 KiB
C
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#ifndef LASER_DATA_LOADER_H
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#define LASER_DATA_LOADER_H
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#include <vector>
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#include <string>
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#include "VZNL_Types.h"
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#include "VrError.h"
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// 激光数据加载器类
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class LaserDataLoader
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{
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public:
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LaserDataLoader();
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~LaserDataLoader();
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// 从文件加载激光扫描数据 - 修改为对象向量
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int LoadLaserScanData(const std::string& fileName,
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std::vector<SVzNL3DLaserLine>& laserLines,
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int& lineNum,
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float& scanSpeed,
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int& maxTimeStamp,
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int& clockPerSecond);
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// 保存激光扫描数据到文件 - 修改为对象向量
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int SaveLaserScanData(const std::string& fileName,
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const std::vector<SVzNL3DLaserLine>& laserLines,
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int lineNum,
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float scanSpeed,
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int maxTimeStamp,
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int clockPerSecond);
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// 释放加载的数据内存 - 修改为对象向量
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void FreeLaserScanData(std::vector<SVzNL3DLaserLine>& laserLines);
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// 获取最后的错误信息
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std::string GetLastError() const { return m_lastError; }
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private:
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// 读取XYZ格式的激光数据
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SVzNL3DLaserLine* ReadLaserScanPointFromFile_XYZ(const char* fileName,
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int* scanLineNum,
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float* scanV,
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int* dataCalib,
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int* scanMaxStamp,
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int* canClockUnit);
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// 保存激光数据到文件（移除零点）
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void SaveScanDataFile_RemoveZeros(const char* fileName,
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SVzNL3DLaserLine* scanData,
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int lineNum,
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float lineV,
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int maxTimeStamp,
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int clockPerSecond);
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// 解析文件头信息
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int ParseFileHeader(const std::string& line, int& lineNum);
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// 解析扫描线信息
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int ParseScanLine(const std::string& line, int& lineIndex, unsigned int& timeStamp, int& pointNum);
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// 解析3D点信息
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int Parse3DPoint(const std::string& line, float& x, float& y, float& z);
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std::string m_lastError;
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static const int VZ_LASER_LINE_PT_MAX_NUM = 4096;
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};
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#endif // LASER_DATA_LOADER_H
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