Class Metascan

Inheritance Relationships

Base Type

Class Documentation

class Metascan : public lvr2::SLAMScanWrapper

Represents several Scans as part of a single Scan.

Note that most methods of Scan don’t make sense on a Metascan, like reductions or Pose getters.

Public Functions

Metascan()
virtual ~Metascan() = default
virtual void transform(const Transformd &transform, bool writeFrame = true, FrameUse use = FrameUse::UPDATED) override

Applies a relative Transformation to the Scan.

Parameters:

  • transform – The Transformation

  • writeFrame – weather or not to add a new animation Frame

  • use – The FrameUse if writeFrame is set to true

virtual Vector3d point(size_t index) const override

Returns the Point at the specified index in global Coordinates.

Parameters:

index – the Index

Returns:

Vector3d the Point in global Coordinates

void addScan(SLAMScanPtr scan)

Protected Attributes

std::vector<SLAMScanPtr> m_scans