SLAMAlign.hpp

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#ifndef SLAMALIGN_HPP_
#define SLAMALIGN_HPP_
 
#include "SLAMScanWrapper.hpp"
#include "SLAMOptions.hpp"
#include "GraphSLAM.hpp"
 
namespace lvr2
{
 
class SLAMAlign
{
 
public:
    SLAMAlign(const SLAMOptions& options, const std::vector<SLAMScanPtr>& scans, std::vector<bool> new_scans = std::vector<bool>());
 
    SLAMAlign(const SLAMOptions& options = SLAMOptions(), std::vector<bool> new_scans = std::vector<bool>());
 
    virtual ~SLAMAlign() = default;
 
    void addScan(const SLAMScanPtr& scan, bool match = false);
 
    void addScan(const ScanPtr& scan, bool match = false);
 
    SLAMScanPtr scan(size_t index) const;
 
    void match();
 
    void finish();
 
    void setOptions(const SLAMOptions& options);
 
    SLAMOptions& options();
 
    const SLAMOptions& options() const;
 
protected:
 
    void reduceScan(const SLAMScanPtr& scan);
 
    void applyTransform(SLAMScanPtr scan, const Matrix4d& transform);
 
    void checkLoopClose(size_t last);
 
    void loopClose(size_t first, size_t last);
 
    void graphSLAM(size_t last);
 
 
    void checkLoopCloseOtherOrder(size_t last);
 
    void createIcpGraph();
 
    SLAMOptions              m_options;
 
    std::vector<SLAMScanPtr> m_scans;
 
    SLAMScanPtr              m_metascan;
 
    GraphSLAM                m_graph;
    bool                     m_foundLoop;
    int                      m_loopIndexCount;
 
    std::vector<bool>        m_new_scans;
 
    std::vector<std::pair<int, int>> m_icp_graph;
};
 
} /* namespace lvr2 */
 
#endif /* SLAMALIGN_HPP_ */