PCDFileGrabber.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PCDFileGrabber.h                   **
** Module : ICLGeom                                                **
** Authors: Patrick Nobou                                          **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/PointCloudGrabber.h>


namespace icl{

  namespace geom{

  class PCDFileGrabber : public PointCloudGrabber{
      
    public:
    PCDFileGrabber();


    PCDFileGrabber(const std::string &filepattern, bool loop = true,
                   bool forceExactPCLType = false, const int offset = 0);
    

    //PCDFileGrabber(const std::string &filename, const int offset = 0);
    
    virtual ~PCDFileGrabber() throw();
    
    virtual void grab(PointCloudObjectBase &dst);
    
    private:
    struct Data;  // !< pimpl type
    Data *m_data; // !< pimpl pointer
    

    std::vector<std::string> getFields() const;
    };
  }
}