Function lvr2::scanFromProject

Function Documentation

std::pair<ScanPtr, Transformd> lvr2::scanFromProject(ScanProjectPtr project, size_t scanPositionNo, size_t lidarNo = 0, size_t scanNo = 0)

Extracts a scan from a scan project.

Parameters:

  • project – A pointer to a scan project

  • scanPositionNo – The scan position number

  • lidarNo – The lidar number

  • scanNo – The scan for the given lidar

  • transform – If true, the scan data will be transformed into the scan projects reference system. Otherwise, the raw input data with the transformation with respect to the corresponsing scan position will be returned.

Returns:

std::pair<ScanPtr, Transformd> A pair of scan data and transformation into the global reference frame. If the scan data could not be loaded, the ScanPtr is a nullptr and the corresponding transformation an identity matrix.