An input class for laser scans in UOS 3d format. More...

#include <UosIO.hpp>

Inheritance diagram for lvr2::UosIO:

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 (std::string filename)=0
	Save the loaded elements to the given file. More...

virtual void	save (ModelPtr model, std::string filename)
	Set the model and 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, int width)

std::string	to_string (const int &t)

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

Detailed Description

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.

Definition at line 74 of file UosIO.hpp.

Constructor & Destructor Documentation

◆ UosIO()

lvr2::UosIO::UosIO ( )

inline

Contructor.

Definition at line 82 of file UosIO.hpp.

Member Function Documentation

◆ deg()

float lvr2::UosIO::deg ( const float rad )

inlineprivate

Converts an angle (given in rad) to deg

Parameters

rad	angle in rad

Returns: angle in deg

Definition at line 214 of file UosIO.hpp.

◆ parseFrameFile()

Matrix4< Vec > lvr2::UosIO::parseFrameFile ( ifstream & frameFile )

Creates a transformation matrix from given frame file.

Parameters

frameFile

Returns: A matrix representing the final transformation from a frame file

Definition at line 708 of file UosIO.cpp.

◆ rad()

float lvr2::UosIO::rad ( const float deg )

inlineprivate

Converts an angle (given in deg) to rad

Parameters

deg	integer indicating, whether the figure to be drawn to show the clusters should be circles (0) or rectangles(1)

Returns: the clustered image, with the clusters marked by colored figures

Definition at line 202 of file UosIO.hpp.

◆ read()

ModelPtr lvr2::UosIO::read ( string dir )

Reads all scans or an specified range of scans from the given directory.

Parameters

dir	A directory containing scans in UOS format.

Returns: An indexed array of scan points

Definition at line 59 of file UosIO.cpp.

◆ readNewFormat()

void lvr2::UosIO::readNewFormat	(	ModelPtr &	m,
		string	dir,
		int	first,
		int	last,
		size_t &	n
	)

private

Reads scans from first} to last} in new UOS format.

Parameters

dir	The directory path
first	The first scan to read
last	The last scan to read

Returns: All read data points

Definition at line 201 of file UosIO.cpp.

◆ readOldFormat()

void lvr2::UosIO::readOldFormat	(	ModelPtr &	m,
		string	dir,
		int	first,
		int	last,
		size_t &	n
	)

private

Reads scans from first} to last} in old UOS format.

Parameters

dir	The directory path
first	The first scan to read
last	The last scan to read

Returns: All read data points

Definition at line 517 of file UosIO.cpp.

◆ reduce()

void lvr2::UosIO::reduce	(	string	dir,
		string	target,
		int	reduction = `1`
	)

Reduces the given point cloud and exports all points into on single file.

Parameters

dir	The directory containg the scan data
reduction	Reduction factor (export only every n-th point)
target	A target file name

Definition at line 180 of file UosIO.cpp.

◆ save()

void lvr2::UosIO::save ( string filename )

inline

Todo:: Implement this!

Warning: This function is not yet implemented!

Definition at line 130 of file UosIO.hpp.

◆ saveRemission()

void lvr2::UosIO::saveRemission ( bool yes )

inline

Save remission (if present)

Definition at line 143 of file UosIO.hpp.

◆ saveRemissionAsColor()

void lvr2::UosIO::saveRemissionAsColor ( bool convert )

inline

Convert remission value to pseudo RGB values while saving.

Definition at line 137 of file UosIO.hpp.

◆ setFirstScan()

void lvr2::UosIO::setFirstScan ( int n )

inline

Defines the first scan to read.

Parameters

n	The first scan to read

Definition at line 105 of file UosIO.hpp.

◆ setLastScan()

void lvr2::UosIO::setLastScan ( int n )

inline

Defines the last scan to read.

Parameters

n	The last scan to read

Definition at line 112 of file UosIO.hpp.

◆ to_string() [1/2]

std::string lvr2::UosIO::to_string	(	const int &	t,
		int	width
	)

inlineprivate

Definition at line 177 of file UosIO.hpp.

◆ to_string() [2/2]

std::string lvr2::UosIO::to_string ( const int & t )

inlineprivate

Definition at line 185 of file UosIO.hpp.

Member Data Documentation

◆ m_firstScan

int lvr2::UosIO::m_firstScan

private

The first scan to read (or -1 if all scans should be processed)

Definition at line 221 of file UosIO.hpp.

◆ m_lastScan

int lvr2::UosIO::m_lastScan

private

The last scan to read (or -1 if all scans should be processed)

Definition at line 224 of file UosIO.hpp.

◆ m_numScans

int lvr2::UosIO::m_numScans

private

Number of loaded scans.

Definition at line 233 of file UosIO.hpp.

◆ m_outputFile

ofstream lvr2::UosIO::m_outputFile

private

Filestream to save reduced data.

Definition at line 230 of file UosIO.hpp.

◆ m_reductionTarget

int lvr2::UosIO::m_reductionTarget

private

Number of targeted points for reduction.

Definition at line 236 of file UosIO.hpp.

◆ m_saveRemission

bool lvr2::UosIO::m_saveRemission

private

If true, the original remission information will be saved.

Definition at line 242 of file UosIO.hpp.

◆ m_saveRemissionColor

bool lvr2::UosIO::m_saveRemissionColor

private

If true, remission values will be converted to color.

Definition at line 239 of file UosIO.hpp.

◆ m_saveToDisk

bool lvr2::UosIO::m_saveToDisk

private

If true, the read point will not be stored in local memory.

Definition at line 227 of file UosIO.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UosIO()

Member Function Documentation

◆ deg()

◆ parseFrameFile()

◆ rad()

◆ read()

◆ readNewFormat()

◆ readOldFormat()

◆ reduce()

◆ save()

◆ saveRemission()

◆ saveRemissionAsColor()

◆ setFirstScan()

◆ setLastScan()

◆ to_string() [1/2]

◆ to_string() [2/2]

Member Data Documentation

◆ m_firstScan

◆ m_lastScan

◆ m_numScans

◆ m_outputFile

◆ m_reductionTarget

◆ m_saveRemission

◆ m_saveRemissionColor

◆ m_saveToDisk