#include <ScanGraph.h>

Public Types
typedef std::vector< ScanEdge * > ::const_iterator	const_edge_iterator
typedef std::vector< ScanNode * > ::const_iterator	const_iterator
typedef std::vector< ScanEdge * > ::iterator	edge_iterator
typedef std::vector< ScanNode * > ::iterator	iterator
Public Member Functions
ScanEdge *	addEdge (ScanNode first, ScanNode second, pose6d constraint)
ScanEdge *	addEdge (unsigned int first_id, unsigned int second_id)
ScanNode *	addNode (Pointcloud *scan, pose6d pose)
iterator	begin ()
const_iterator	begin () const
void	clear ()
	Clears all nodes and edges, and will delete the corresponding objects.
void	connectPrevious ()
	Connect previously added ScanNode to the one before that.
void	crop (point3d lowerBound, point3d upperBound)
	Cut graph (all containing Pointclouds) to given BBX in global coords.
void	cropEachScan (point3d lowerBound, point3d upperBound)
	Cut Pointclouds to given BBX in local coords.
bool	edgeExists (unsigned int first_id, unsigned int second_id)
edge_iterator	edges_begin ()
const_edge_iterator	edges_begin () const
edge_iterator	edges_end ()
const_edge_iterator	edges_end () const
iterator	end ()
const_iterator	end () const
void	exportDot (std::string filename)
std::vector< ScanEdge * >	getInEdges (ScanNode *node)
std::vector< unsigned int >	getNeighborIDs (unsigned int id)
ScanNode *	getNodeByID (unsigned int id)
	will return NULL if node was not found
unsigned int	getNumPoints (unsigned int max_id=-1) const
std::vector< ScanEdge * >	getOutEdges (ScanNode *node)
std::istream &	readBinary (std::ifstream &s)
bool	readBinary (const std::string &filename)
std::istream &	readEdgesASCII (std::istream &s)
std::istream &	readNodePosesASCII (std::istream &s)
std::istream &	readPlainASCII (std::istream &s)
void	readPlainASCII (const std::string &filename)
	ScanGraph ()
unsigned int	size () const
void	transformScans ()
	Transform every scan according to its pose.
std::ostream &	writeBinary (std::ostream &s) const
bool	writeBinary (const std::string &filename) const
std::ostream &	writeEdgesASCII (std::ostream &s) const
std::ostream &	writeNodePosesASCII (std::ostream &s) const
	~ScanGraph ()
Protected Attributes
std::vector< ScanEdge * >	edges
std::vector< ScanNode * >	nodes

Detailed Description

A ScanGraph is a collection of ScanNodes, connected by ScanEdges. Each ScanNode contains a 3D scan performed from a pose.

Definition at line 114 of file ScanGraph.h.

Member Typedef Documentation

typedef std::vector<ScanEdge*>::const_iterator octomap::ScanGraph::const_edge_iterator

Definition at line 184 of file ScanGraph.h.

typedef std::vector<ScanNode*>::const_iterator octomap::ScanGraph::const_iterator

Definition at line 174 of file ScanGraph.h.

typedef std::vector<ScanEdge*>::iterator octomap::ScanGraph::edge_iterator

Definition at line 183 of file ScanGraph.h.

typedef std::vector<ScanNode*>::iterator octomap::ScanGraph::iterator

Definition at line 173 of file ScanGraph.h.

Constructor & Destructor Documentation

octomap::ScanGraph::ScanGraph ( ) [inline]

Definition at line 118 of file ScanGraph.h.

octomap::ScanGraph::~ScanGraph ( )

Definition at line 159 of file ScanGraph.cpp.

Member Function Documentation

ScanEdge * octomap::ScanGraph::addEdge	(	ScanNode *	first,
		ScanNode *	second,
		pose6d	constraint
	)

Creates an edge between two ScanNodes. ScanGraph will delete the object when it's no longer needed, don't delete it yourself.

Parameters:

first	ScanNode
second	ScanNode
constraint	6D transform between the two nodes

Returns:

Definition at line 187 of file ScanGraph.cpp.

ScanEdge * octomap::ScanGraph::addEdge	(	unsigned int	first_id,
		unsigned int	second_id
	)

Definition at line 201 of file ScanGraph.cpp.

ScanNode * octomap::ScanGraph::addNode	(	Pointcloud *	scan,
		pose6d	pose
	)

Creates a new ScanNode in the graph from a Pointcloud.

Parameters:

scan	Pointer to a pointcloud to be added to the ScanGraph. ScanGraph will delete the object when it's no longer needed, don't delete it yourself.
pose	6D pose of the origin of the Pointcloud

Returns:: Pointer to the new node

Definition at line 175 of file ScanGraph.cpp.

iterator octomap::ScanGraph::begin ( ) [inline]

Definition at line 175 of file ScanGraph.h.

const_iterator octomap::ScanGraph::begin ( ) const [inline]

Definition at line 177 of file ScanGraph.h.

void octomap::ScanGraph::clear ( )

Clears all nodes and edges, and will delete the corresponding objects.

Definition at line 163 of file ScanGraph.cpp.

void octomap::ScanGraph::connectPrevious ( )

Connect previously added ScanNode to the one before that.

Definition at line 222 of file ScanGraph.cpp.

void octomap::ScanGraph::crop	(	point3d	lowerBound,
		point3d	upperBound
	)

Cut graph (all containing Pointclouds) to given BBX in global coords.

Definition at line 591 of file ScanGraph.cpp.

void octomap::ScanGraph::cropEachScan	(	point3d	lowerBound,
		point3d	upperBound
	)

Cut Pointclouds to given BBX in local coords.

Definition at line 583 of file ScanGraph.cpp.

bool octomap::ScanGraph::edgeExists	(	unsigned int	first_id,
		unsigned int	second_id
	)

Returns:: true when an edge between first_id and second_id exists

Definition at line 255 of file ScanGraph.cpp.

edge_iterator octomap::ScanGraph::edges_begin ( ) [inline]

Definition at line 185 of file ScanGraph.h.

const_edge_iterator octomap::ScanGraph::edges_begin ( ) const [inline]

Definition at line 187 of file ScanGraph.h.

edge_iterator octomap::ScanGraph::edges_end ( ) [inline]

Definition at line 186 of file ScanGraph.h.

const_edge_iterator octomap::ScanGraph::edges_end ( ) const [inline]

Definition at line 188 of file ScanGraph.h.

iterator octomap::ScanGraph::end ( ) [inline]

Definition at line 176 of file ScanGraph.h.

const_iterator octomap::ScanGraph::end ( ) const [inline]

Definition at line 178 of file ScanGraph.h.

void octomap::ScanGraph::exportDot ( std::string filename )

Definition at line 232 of file ScanGraph.cpp.

std::vector< ScanEdge * > octomap::ScanGraph::getInEdges ( ScanNode * node )

Definition at line 295 of file ScanGraph.cpp.

std::vector< unsigned int > octomap::ScanGraph::getNeighborIDs ( unsigned int id )

Definition at line 268 of file ScanGraph.cpp.

ScanNode * octomap::ScanGraph::getNodeByID ( unsigned int id )

will return NULL if node was not found

Definition at line 248 of file ScanGraph.cpp.

unsigned int octomap::ScanGraph::getNumPoints ( unsigned int max_id = -1 ) const

Definition at line 606 of file ScanGraph.cpp.

std::vector< ScanEdge * > octomap::ScanGraph::getOutEdges ( ScanNode * node )

Definition at line 283 of file ScanGraph.cpp.

std::istream & octomap::ScanGraph::readBinary ( std::ifstream & s )

Definition at line 364 of file ScanGraph.cpp.

bool octomap::ScanGraph::readBinary ( const std::string & filename )

Definition at line 353 of file ScanGraph.cpp.

std::istream & octomap::ScanGraph::readEdgesASCII ( std::istream & s )

Definition at line 505 of file ScanGraph.cpp.

std::istream & octomap::ScanGraph::readNodePosesASCII ( std::istream & s )

Definition at line 551 of file ScanGraph.cpp.

std::istream & octomap::ScanGraph::readPlainASCII ( std::istream & s )

Reads in a ScanGraph from a "plain" ASCII file of the form NODE x y z R P Y x y z x y z x y z NODE x y z R P Y x y z

Lines starting with the NODE keyword contain the 6D pose of a scan node, all 3D point following until the next NODE keyword (or end of file) are inserted into that scan node as pointcloud in its local coordinate frame

Parameters:

s	input stream to read from

Returns:: read stream

Definition at line 431 of file ScanGraph.cpp.

void octomap::ScanGraph::readPlainASCII ( const std::string & filename )

Definition at line 421 of file ScanGraph.cpp.

unsigned int octomap::ScanGraph::size ( ) const [inline]

Definition at line 180 of file ScanGraph.h.

void octomap::ScanGraph::transformScans ( )

Transform every scan according to its pose.

Definition at line 307 of file ScanGraph.cpp.

std::ostream & octomap::ScanGraph::writeBinary ( std::ostream & s ) const

Definition at line 324 of file ScanGraph.cpp.

bool octomap::ScanGraph::writeBinary ( const std::string & filename ) const

Definition at line 313 of file ScanGraph.cpp.

std::ostream & octomap::ScanGraph::writeEdgesASCII ( std::ostream & s ) const

Definition at line 486 of file ScanGraph.cpp.

std::ostream & octomap::ScanGraph::writeNodePosesASCII ( std::ostream & s ) const

Definition at line 538 of file ScanGraph.cpp.

Member Data Documentation

std::vector<ScanEdge*> octomap::ScanGraph::edges [protected]

Definition at line 225 of file ScanGraph.h.

std::vector<ScanNode*> octomap::ScanGraph::nodes [protected]

Definition at line 224 of file ScanGraph.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation