struct mp2p_icp::las_export_options_t

Overview

#include <point_cloud_export.h>

struct las_export_options_t
{
    // fields

    std::vector<std::string> fields;
    std::string system_id = "mp2p_icp";
    std::string generating_software = "MOLA mp2p_icp";
    std::optional<mrpt::poses::CPose3D> transform;
    bool geodetic = false;
    std::optional<metric_map_t::Georeferencing> georeferencing;
    bool verbose = false;
};

Fields

std::vector<std::string> fields

Fields to export. If empty, all fields are exported. Fields matching the LAS 1.4 point format 8 standard ones (intensity, return_number, number_of_returns, classification, red, green, blue, nir, gps_time, scan_angle, user_data, point_source_id) go into the point records, the rest as “extra bytes” dimensions.

std::string system_id = "mp2p_icp"

System identifier and generating software in the LAS header (up to 31 characters each).

std::optional<mrpt::poses::CPose3D> transform

If set, the x, y, z coordinates are transformed with this pose before being written (e.g. T_enu_to_map, to export in the ENU frame). Ignored if geodetic is true.

bool geodetic = false

If true, points are written as WGS-84 longitude, latitude, ellipsoidal height, with the EPSG:4979 CRS embedded in the file. Per-point “latitude”, “longitude”, “altitude” double fields are used if present; otherwise, points are converted with georeferencing.

std::optional<metric_map_t::Georeferencing> georeferencing

Georeferencing of the cloud, used if geodetic is true.

bool verbose = false

Print information messages to std::cout. Warnings (e.g. on missing fields) always go to std::cerr.