ScanPosition.hpp

Go to the documentation of this file.

 
#ifndef LVR2_IO_YAML_SCANPOSMETA_IO_HPP
#define LVR2_IO_YAML_SCANPOSMETA_IO_HPP
 
#include <yaml-cpp/yaml.h>
#include "lvr2/types/ScanTypes.hpp"
#include "MatrixIO.hpp"
 
namespace YAML {  
 
// WRITE SCAN PARTIALLY
template <>
struct convert<lvr2::ScanPosition> 
{
 
    static Node encode(const lvr2::ScanPosition& scanPos) {
        Node node;
        
        node["sensor_type"] = lvr2::ScanPosition::sensorType;
        node["latitude"] = scanPos.latitude;
        node["longitude"] = scanPos.longitude;
        node["altitude"] = scanPos.altitude;
        node["pose_estimate"] = scanPos.pose_estimate;
        node["registration"] = scanPos.registration;
        node["timestamp"] = scanPos.timestamp;
 
        return node;
    }
 
    static bool decode(const Node& node, lvr2::ScanPosition& scanPos) {
        
        if(node["sensor_type"].as<std::string>() != lvr2::ScanPosition::sensorType)
        {
            return false;
        }
 
        scanPos.latitude = node["latitude"].as<double>();
        scanPos.longitude = node["longitude"].as<double>();
        scanPos.altitude = node["altitude"].as<double>();
        
        scanPos.pose_estimate = node["pose_estimate"].as<lvr2::Transformd>();
        scanPos.registration = node["registration"].as<lvr2::Transformd>();
 
        scanPos.timestamp = node["timestamp"].as<double>();
 
        return true;
    }
 
};
 
}  // namespace YAML
 
#endif // LVR2_IO_YAML_SCANPOSMETA_IO_HPP