9 #include <boost/filesystem.hpp>
59 std::stringstream scan_stream;
60 scan_stream <<
"scan" << std::setfill(
'0') << std::setw(3) << scanNo;
65 boost::filesystem::path pose_path(scan_stream.str() +
".pose");
66 boost::filesystem::path frames_path(scan_stream.str() +
".frames");
69 Eigen::Matrix<double, 4, 4> poseEstimate;
70 if(boost::filesystem::exists(pose_path))
72 poseEstimate = getTransformationFromPose<double>(pose_path);
75 Eigen::Matrix<double, 4, 4> registration;
76 if(boost::filesystem::exists(frames_path))
78 registration = getTransformationFromFrames<double>(frames_path);
83 if(boost::filesystem::exists(scan_path))
92 node[
"start_time"] = 0.0;
93 node[
"end_time"] = 0.0;
95 node[
"pose_estimate"] = poseEstimate;
96 node[
"registration"] = registration;
99 config[
"theta"] = YAML::Load(
"[]");
100 config[
"theta"].push_back(0);
101 config[
"theta"].push_back(0);
103 config[
"phi"] = YAML::Load(
"[]");
104 config[
"phi"].push_back(0);
105 config[
"phi"].push_back(0);
107 config[
"v_res"] = 0.0;
108 config[
"h_res"] = 0.0;
110 config[
"num_points"] = num_pts;
111 node[
"config"] = config;
116 d.
metaName = scan_stream.str() +
".slam6d";
122 return scan(0, scanNo);
148 const size_t &scanPosNo,
const size_t &scanNo,
149 const size_t &scanCameraNo,
const size_t &scanImageNo)
const
161 const std::string &scanImagePath,
const size_t &scanImageNo)
const