Struct Scan

Inheritance Relationships

Base Types

Struct Documentation

struct Scan : public std::enable_shared_from_this<Scan>, public lvr2::SensorDataEntity, public lvr2::Transformable, public lvr2::BoundedOptional

Public Functions

inline void save()
inline void save_reduced(ReductionAlgorithmPtr p)
inline bool loadable() const
inline bool loaded() const
inline void load()
inline void load(ReductionAlgorithmPtr red)
inline void release()

Public Members

Transformd poseEstimation = Transformd::Identity()

Pose estimation of this scan in project coordinates.

per scan position we have an old Sick Scanner rotating around. Thus, this scanner acquires different scans at one fixed scan position but with dynamic transformations of each scan Variable “transform is placed in Transformable”

SphericalModelOptional model
double startTime

Start timestamp.

double endTime

End timestamp.

size_t numPoints

Number of points in scan.

PointBufferPtr points

Axis aligned bounding box of this scan.

Point buffer containing the scan points

std::function<PointBufferPtr()> points_loader

Loader.

std::function<PointBufferPtr(ReductionAlgorithmPtr)> points_loader_reduced
std::function<void(ScanPtr)> points_saver
std::function<void(ReductionAlgorithmPtr)> points_saver_reduced

Public Static Attributes

static constexpr char type[] = "scan"