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2 #ifndef LVR2_IO_YAML_SCANMETA_IO_HPP
3 #define LVR2_IO_YAML_SCANMETA_IO_HPP
5 #include <yaml-cpp/yaml.h>
32 node[
"end_time"] = scan.
endTime;
38 config[
"theta"] = Load(
"[]");
39 config[
"theta"].push_back(scan.
thetaMin);
40 config[
"theta"].push_back(scan.
thetaMax);
42 config[
"phi"] = Load(
"[]");
43 config[
"phi"].push_back(scan.
phiMin);
44 config[
"phi"].push_back(scan.
phiMax);
50 node[
"config"] = config;
62 scan.
startTime = node[
"start_time"].as<
double>();
63 scan.
endTime = node[
"end_time"].as<
double>();
67 const Node& config = node[
"config"];
70 scan.
thetaMin = config[
"theta"][0].as<
double>();
71 scan.
thetaMax = config[
"theta"][1].as<
double>();
73 scan.
phiMin = config[
"phi"][0].as<
double>();
74 scan.
phiMax = config[
"phi"][1].as<
double>();
80 scan.
numPoints = config[
"num_points"].as<
size_t>();
90 #endif // LVR2_IO_YAML_SCANMETA_IO_HPP
size_t numPoints
Number of points in scan.
Transform< double > Transformd
4x4 double precision transformation matrix
static bool decode(const Node &node, lvr2::Scan &scan)
double hResolution
Horizontal resolution of used laser scanner.
Transformd poseEstimation
Pose estimation of this scan in project coordinates.
static Node encode(const lvr2::Scan &scan)
double endTime
End timestamp
double phiMax
Max vertical scan angle.
void convert(COORD_SYSTEM from, COORD_SYSTEM to, float *point)
double startTime
Start timestamp.
double thetaMin
Min horizontal scan angle.
static constexpr char sensorType[]
Transformd registration
Registration of this scan in project coordinates.
double thetaMax
Max horizontal scan angle.
double phiMin
Min vertical scan angle.
double vResolution
Vertical resolution of used laser scanner.
lvr2
Author(s): Thomas Wiemann
, Sebastian Pütz , Alexander Mock , Lars Kiesow , Lukas Kalbertodt , Tristan Igelbrink , Johan M. von Behren , Dominik Feldschnieders , Alexander Löhr
autogenerated on Wed Mar 2 2022 00:37:24