Method handleYamlNode

grid_map_pcl/src/PclLoaderParameters.cpp:17–47

namespace grid_map_pcl {

void PclLoaderParameters::handleYamlNode(const YAML::Node& yamlNode) {
  const std::string prefix = "pcl_grid_map_extraction";

  parameters_.numThreads_ = yamlNode[prefix]["num_processing_threads"].as<int>();

  parameters_.cloudTransformation_.translation_.x() = yamlNode[prefix]["cloud_transform"]["translation"]["x"].as<double>();
  parameters_.cloudTransformation_.translation_.y() = yamlNode[prefix]["cloud_transform"]["translation"]["y"].as<double>();
  parameters_.cloudTransformation_.translation_.z() = yamlNode[prefix]["cloud_transform"]["translation"]["z"].as<double>();

  parameters_.cloudTransformation_.rpyIntrinsic_.x() = yamlNode[prefix]["cloud_transform"]["rotation"]["r"].as<double>();
  parameters_.cloudTransformation_.rpyIntrinsic_.y() = yamlNode[prefix]["cloud_transform"]["rotation"]["p"].as<double>();
  parameters_.cloudTransformation_.rpyIntrinsic_.z() = yamlNode[prefix]["cloud_transform"]["rotation"]["y"].as<double>();

  parameters_.clusterExtraction_.useMaxHeightAsCellElevation_ =
      yamlNode[prefix]["cluster_extraction"]["use_max_height_as_cell_elevation"].as<bool>();
  parameters_.clusterExtraction_.clusterTolerance_ = yamlNode[prefix]["cluster_extraction"]["cluster_tolerance"].as<double>();
  parameters_.clusterExtraction_.minNumPoints_ = yamlNode[prefix]["cluster_extraction"]["min_num_points"].as<int>();
  parameters_.clusterExtraction_.maxNumPoints_ = yamlNode[prefix]["cluster_extraction"]["max_num_points"].as<int>();

  parameters_.outlierRemoval_.isRemoveOutliers_ = yamlNode[prefix]["outlier_removal"]["is_remove_outliers"].as<bool>();
  parameters_.outlierRemoval_.meanK_ = yamlNode[prefix]["outlier_removal"]["mean_K"].as<int>();
  parameters_.outlierRemoval_.stddevThreshold_ = yamlNode[prefix]["outlier_removal"]["stddev_threshold"].as<double>();

  parameters_.gridMap_.resolution_ = yamlNode[prefix]["grid_map"]["resolution"].as<double>();
  parameters_.gridMap_.minCloudPointsPerCell_ = yamlNode[prefix]["grid_map"]["min_num_points_per_cell"].as<int>();

  parameters_.downsampling_.isDownsampleCloud_ = yamlNode[prefix]["downsampling"]["is_downsample_cloud"].as<bool>();
  parameters_.downsampling_.voxelSize_.x() = yamlNode[prefix]["downsampling"]["voxel_size"]["x"].as<double>();
  parameters_.downsampling_.voxelSize_.y() = yamlNode[prefix]["downsampling"]["voxel_size"]["y"].as<double>();
  parameters_.downsampling_.voxelSize_.z() = yamlNode[prefix]["downsampling"]["voxel_size"]["z"].as<double>();
}

bool PclLoaderParameters::loadParameters(const std::string& filename) {
  YAML::Node yamlNode = YAML::LoadFile(filename);