shared_ptr<cs::LidarDataType> LidarFile::createXMLStructure(
const LidarDataContainer& lidarContainer,
const std::string& dataFileName,
const LidarCenteringTransfo& transfo,
const cs::DataFormatType format)
{
// generate xml file
cs::LidarDataType::AttributesType attributes(lidarContainer.size(), format);
// insert attributes in the xml (with their names and types)
const AttributeMapType& attributeMap = lidarContainer.getAttributeMap();
for(AttributeMapType::const_iterator it=attributeMap.begin(); it!=attributeMap.end(); ++it)
{
attributes.attribute().push_back(it->second);
}
// add transfo
if(transfo.isSet())
{
attributes.centeringTransfo(cs::CenteringTransfoType(transfo.x(), transfo.y()));
}
// add dataFilename
attributes.dataFileName() = dataFileName;
shared_ptr<cs::LidarDataType> xmlStructure(new cs::LidarDataType(attributes));
return xmlStructure;
}
void operator()(const LidarDataContainer& lidarContainer, shared_ptr<LidarDataContainer>& centeredContainer, LidarCenteringTransfo& transfo, const char* const x, const char* const y, const char* const z)
{
LidarEcho echo = centeredContainer->createEcho();
LidarConstIteratorEcho itb = lidarContainer.begin();
const LidarConstIteratorEcho ite = lidarContainer.end();
const unsigned int decalageX = centeredContainer->getDecalage(x);
const unsigned int decalageY = centeredContainer->getDecalage(y);
const unsigned int decalageZ = centeredContainer->getDecalage(z);
const unsigned int decalageX_initial = lidarContainer.getDecalage(x);
const unsigned int decalageY_initial = lidarContainer.getDecalage(y);
const unsigned int decalageZ_initial = lidarContainer.getDecalage(z);
//si la transfo vaut 0, elle est calculée automatiquement
if(transfo.x()==0 && transfo.y()==0)
{
const float quotient = 1000.;
LidarEcho echoInitial(*itb);
double x = std::floor(echoInitial.value<AttributeType>(decalageX_initial)/quotient)*quotient;
double y = std::floor(echoInitial.value<AttributeType>(decalageY_initial)/quotient)*quotient;
transfo.setTransfo(x,y);
}
for(;itb!=ite; ++itb)
{
LidarEcho echoInitial(*itb);
echo.value<float>(decalageX) = (float)( echoInitial.value<AttributeType>(decalageX_initial) - transfo.x() );
echo.value<float>(decalageY) = (float)( echoInitial.value<AttributeType>(decalageY_initial) - transfo.y() );
echo.value<float>(decalageZ) = (float)echoInitial.value<AttributeType>(decalageZ_initial);
AttributeMapType::const_iterator itbAttribute = centeredContainer->getAttributeMap().begin();
const AttributeMapType::const_iterator iteAttribute = centeredContainer->getAttributeMap().end();
AttributeMapType::const_iterator itbAttributeInitial = lidarContainer.getAttributeMap().begin();
for(; itbAttribute != iteAttribute; ++itbAttribute, ++itbAttributeInitial)
{
if(itbAttribute->first!=x && itbAttribute->first!=y && itbAttribute->first!=z)
{
apply<ReadValueFunctor, void, LidarEcho&, const unsigned int, LidarEcho&,const unsigned int>(
itbAttribute->second.dataType(),
echo, itbAttribute->second.decalage,
echoInitial, itbAttributeInitial->second.decalage);
}
}
centeredContainer->push_back(echo);
}
}