An input class for laser scans in UOS 3d format. More...
#include <UosIO.hpp>
Public Member Functions | |
Matrix4< Vec > | parseFrameFile (ifstream &frameFile) |
Creates a transformation matrix from given frame file. More... | |
ModelPtr | read (string dir) |
Reads all scans or an specified range of scans from the given directory. More... | |
void | reduce (string dir, string target, int reduction=1) |
void | save (string filename) |
void | saveRemission (bool yes) |
Save remission (if present) More... | |
void | saveRemissionAsColor (bool convert) |
Convert remission value to pseudo RGB values while saving. More... | |
void | setFirstScan (int n) |
Defines the first scan to read. More... | |
void | setLastScan (int n) |
Defines the last scan to read. More... | |
UosIO () | |
Contructor. More... | |
Public Member Functions inherited from lvr2::BaseIO | |
BaseIO () | |
virtual ModelPtr | getModel () |
Get the model for io operations. More... | |
virtual ModelPtr | read (std::string filename)=0 |
Parse the given file and load supported elements. More... | |
virtual void | save (ModelPtr model, std::string filename) |
Set the model and save the loaded elements to the given file. More... | |
virtual void | save (std::string filename)=0 |
Save the loaded elements to the given file. More... | |
virtual void | setModel (ModelPtr m) |
Set the model for io operations to use. More... | |
virtual | ~BaseIO () |
Private Member Functions | |
float | deg (const float rad) |
float | rad (const float deg) |
void | readNewFormat (ModelPtr &m, string dir, int first, int last, size_t &n) |
Reads scans from first} to last} in new UOS format. More... | |
void | readOldFormat (ModelPtr &m, string dir, int first, int last, size_t &n) |
Reads scans from first} to last} in old UOS format. More... | |
std::string | to_string (const int &t) |
std::string | to_string (const int &t, int width) |
Private Attributes | |
int | m_firstScan |
The first scan to read (or -1 if all scans should be processed) More... | |
int | m_lastScan |
The last scan to read (or -1 if all scans should be processed) More... | |
int | m_numScans |
Number of loaded scans. More... | |
ofstream | m_outputFile |
Filestream to save reduced data. More... | |
int | m_reductionTarget |
Number of targeted points for reduction. More... | |
bool | m_saveRemission |
If true, the original remission information will be saved. More... | |
bool | m_saveRemissionColor |
If true, remission values will be converted to color. More... | |
bool | m_saveToDisk |
If true, the read point will not be stored in local memory. More... | |
Additional Inherited Members | |
Protected Attributes inherited from lvr2::BaseIO | |
ModelPtr | m_model |
An input class for laser scans in UOS 3d format.
Per default, this class tries to read all scans in the given directory. If you don't want to specify which scans to read, use the setFirstScan} and setLastScan} methods to specify an interval to read. If .frame files are present, the single scans will be transformed according to the last transformation in the file. If no .frame file are present, the .pose files will be sued to transform the scans.
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ModelPtr lvr2::UosIO::read | ( | string | dir | ) |
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void lvr2::UosIO::reduce | ( | string | dir, |
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int | reduction = 1 |
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