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 <Eigen/Dense>
#include <cstdint>
#include <fstream>
#include <string>

#include "reader_base.hpp"
#include "se/common/projection.hpp"
#include "se/image/image.hpp"



namespace se {

class NewerCollegeReader : public Reader {
    public:
    NewerCollegeReader(const ReaderConfig& 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);

    ReaderStatus nextRGBA(Image<uint32_t>& rgba_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