label_reader.h

// Copyright (c) 2016 Baidu.com, Inc. All Rights Reserved
// @author erlangz(zhengwenchao@baidu.com)
// @date 2016/12/22 16:29:52
// @file label_reader.h
// @brief 
#ifndef ADU_PERCEPTION_LABEL_READER_H
#define ADU_PERCEPTION_LABEL_READER_H

#include "types.h"

namespace adu {
namespace perception {

class LabelsReader {
public:
    typedef boost::unordered_map<std::string, Label::Ptr>::iterator Iter;
public:
    bool init(const std::string& file_name);
    
    const Label::Ptr& get(const std::string& pcd_file_name) const {
        return _labels[pcd_file_name];
    }
    const Iter begin() {
        return _labels.begin();
    }
    const Iter end() {
        return _labels.end();
    }
private:
    std::string _labels_file_name;
    mutable boost::unordered_map<std::string, Label::Ptr> _labels;
};

} // namespace perception
} // namespace adu

#endif  // ADU_PERCEPTION_LABEL_READER_H
//