A Wrapper around Scan to allow for SLAM usage. More...

#include <SLAMScanWrapper.hpp>

Inheritance diagram for lvr2::SLAMScanWrapper:

Public Member Functions
void	addFrame (FrameUse use=FrameUse::UNUSED)
	Adds a new animation Frame with the current Pose. More...

const Transformd &	deltaPose () const
	Returns the difference between pose() and initialPose() More...

const std::pair< Transformd, FrameUse > &	frame (size_t index) const
	Returns a Frame consisting of a Pose and a FrameUse. More...

size_t	frameCount () const
	Returns the number of Frames generated. More...

Vector3d	getPosition () const
	Get the Position of the Scan. Can also be obtained from pose() More...

const Transformd &	initialPose () const
	Returns the initial Pose of the Scan. More...

ScanPtr	innerScan ()
	Access to the Scan that this instance is wrapped around. More...

size_t	numPoints () const
	Returns the number of Points in the Scan. More...

virtual Vector3d	point (size_t index) const
	Returns the Point at the specified index in global Coordinates. More...

const Transformd &	pose () const
	Returns the current Pose of the Scan. More...

const Vector3f &	rawPoint (size_t index) const
	Returns the Point at the specified index in local Coordinates. More...

void	reduce (double voxelSize, int maxLeafSize)
	Reduces the Scan using Octree Reduction. More...

void	setMaxDistance (double maxDistance)
	Reduces the Scan by removing all Points farther away than maxDistance to the origin. More...

void	setMinDistance (double minDistance)
	Reduces the Scan by removing all Points closer than minDistance to the origin. More...

	SLAMScanWrapper (ScanPtr scan)
	Construct a new SLAMScanWrapper object as a Wrapper around the Scan. More...

virtual void	transform (const Transformd &transform, bool writeFrame=true, FrameUse use=FrameUse::UPDATED)
	Applies a relative Transformation to the Scan. More...

void	trim ()
	Reduces Memory usage by getting rid of Points removed with reduction Methods. More...

void	writeFrames (std::string path) const
	Writes the Frames to the specified location. More...

virtual	~SLAMScanWrapper ()=default

Protected Attributes
Transformd	m_deltaPose

std::vector< std::pair< Transformd, FrameUse > >	m_frames

size_t	m_numPoints

std::vector< Vector3f >	m_points

ScanPtr	m_scan

Detailed Description

A Wrapper around Scan to allow for SLAM usage.

Definition at line 65 of file SLAMScanWrapper.hpp.

Constructor & Destructor Documentation

◆ SLAMScanWrapper()

lvr2::SLAMScanWrapper::SLAMScanWrapper ( ScanPtr scan )

Construct a new SLAMScanWrapper object as a Wrapper around the Scan.

Parameters

scan	The Scan to wrap around

Definition at line 45 of file SLAMScanWrapper.cpp.

◆ ~SLAMScanWrapper()

virtual lvr2::SLAMScanWrapper::~SLAMScanWrapper ( )

virtualdefault

Member Function Documentation

◆ addFrame()

void lvr2::SLAMScanWrapper::addFrame ( FrameUse use = FrameUse::UNUSED )

Adds a new animation Frame with the current Pose.

Parameters

use	The use of the Frame for coloring purposes

Definition at line 178 of file SLAMScanWrapper.cpp.

◆ deltaPose()

const Transformd & lvr2::SLAMScanWrapper::deltaPose ( ) const

Returns the difference between pose() and initialPose()

Returns: const Transformd& the delta Pose

Definition at line 163 of file SLAMScanWrapper.cpp.

◆ frame()

const std::pair< Transformd, FrameUse > & lvr2::SLAMScanWrapper::frame ( size_t index ) const

Returns a Frame consisting of a Pose and a FrameUse.

Parameters

index the index of the Frame

Returns: const std::pair<Transformd, FrameUse>& the Pose and FrameUse

Definition at line 188 of file SLAMScanWrapper.cpp.

◆ frameCount()

size_t lvr2::SLAMScanWrapper::frameCount ( ) const

Returns the number of Frames generated.

Returns: size_t the number of Frames

Definition at line 183 of file SLAMScanWrapper.cpp.

◆ getPosition()

Vector3d lvr2::SLAMScanWrapper::getPosition ( ) const

Get the Position of the Scan. Can also be obtained from pose()

Returns: Vector3d the Position

Definition at line 173 of file SLAMScanWrapper.cpp.

◆ initialPose()

const Transformd & lvr2::SLAMScanWrapper::initialPose ( ) const

Returns the initial Pose of the Scan.

Returns: const Transformd& the initial Pose

Definition at line 168 of file SLAMScanWrapper.cpp.

◆ innerScan()

ScanPtr lvr2::SLAMScanWrapper::innerScan ( )

Access to the Scan that this instance is wrapped around.

Returns: ScanPtr The Scan

Definition at line 73 of file SLAMScanWrapper.cpp.

◆ numPoints()

size_t lvr2::SLAMScanWrapper::numPoints ( ) const

Returns the number of Points in the Scan.

Returns: size_t the number of Points

Definition at line 153 of file SLAMScanWrapper.cpp.

◆ point()

Vector3d lvr2::SLAMScanWrapper::point ( size_t index ) const

virtual

Returns the Point at the specified index in global Coordinates.

Parameters

index the Index

Returns: Vector3d the Point in global Coordinates

Reimplemented in lvr2::Metascan.

Definition at line 141 of file SLAMScanWrapper.cpp.

◆ pose()

const Transformd & lvr2::SLAMScanWrapper::pose ( ) const

Returns the current Pose of the Scan.

Returns: const Transformd& the Pose

Definition at line 158 of file SLAMScanWrapper.cpp.

◆ rawPoint()

const Vector3f & lvr2::SLAMScanWrapper::rawPoint ( size_t index ) const

Returns the Point at the specified index in local Coordinates.

Parameters

index the Index

Returns: Vector3d the Point in local Coordinates

Definition at line 148 of file SLAMScanWrapper.cpp.

◆ reduce()

void lvr2::SLAMScanWrapper::reduce	(	double	voxelSize,
		int	maxLeafSize
	)

Reduces the Scan using Octree Reduction.

Does not change the amount of allocated Memory unless trim() is called

Parameters

voxelSize
maxLeafSize

Definition at line 89 of file SLAMScanWrapper.cpp.

◆ setMaxDistance()

void lvr2::SLAMScanWrapper::setMaxDistance ( double maxDistance )

Reduces the Scan by removing all Points farther away than maxDistance to the origin.

Does not change the amount of allocated Memory unless trim() is called

Parameters

maxDistance The maximum Distance for a Point to have

Definition at line 115 of file SLAMScanWrapper.cpp.

◆ setMinDistance()

void lvr2::SLAMScanWrapper::setMinDistance ( double minDistance )

Reduces the Scan by removing all Points closer than minDistance to the origin.

Does not change the amount of allocated Memory unless trim() is called

Parameters

minDistance The minimum Distance for a Point to have

Definition at line 95 of file SLAMScanWrapper.cpp.

◆ transform()

void lvr2::SLAMScanWrapper::transform	(	const Transformd &	transform,
		bool	writeFrame = `true`,
		FrameUse	use = `FrameUse::UPDATED`
	)

virtual

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

Reimplemented in lvr2::Metascan.

Definition at line 78 of file SLAMScanWrapper.cpp.

◆ trim()

void lvr2::SLAMScanWrapper::trim ( )

Reduces Memory usage by getting rid of Points removed with reduction Methods.

Definition at line 135 of file SLAMScanWrapper.cpp.

◆ writeFrames()

void lvr2::SLAMScanWrapper::writeFrames ( std::string path ) const

Writes the Frames to the specified location.

Parameters

path	The path of the file to write to

Definition at line 193 of file SLAMScanWrapper.cpp.

Member Data Documentation

◆ m_deltaPose

Transformd lvr2::SLAMScanWrapper::m_deltaPose

protected

Definition at line 216 of file SLAMScanWrapper.hpp.

◆ m_frames

std::vector<std::pair<Transformd, FrameUse> > lvr2::SLAMScanWrapper::m_frames

protected

Definition at line 218 of file SLAMScanWrapper.hpp.

◆ m_numPoints

size_t lvr2::SLAMScanWrapper::m_numPoints

protected

Definition at line 214 of file SLAMScanWrapper.hpp.

◆ m_points

std::vector<Vector3f> lvr2::SLAMScanWrapper::m_points

protected

Definition at line 213 of file SLAMScanWrapper.hpp.

◆ m_scan

ScanPtr lvr2::SLAMScanWrapper::m_scan

protected

Definition at line 211 of file SLAMScanWrapper.hpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAMScanWrapper()

◆ ~SLAMScanWrapper()

Member Function Documentation

◆ addFrame()

◆ deltaPose()

◆ frame()

◆ frameCount()

◆ getPosition()

◆ initialPose()

◆ innerScan()

◆ numPoints()

◆ point()

◆ pose()

◆ rawPoint()

◆ reduce()

◆ setMaxDistance()

◆ setMinDistance()

◆ transform()

◆ trim()

◆ writeFrames()

Member Data Documentation

◆ m_deltaPose

◆ m_frames

◆ m_numPoints

◆ m_points

◆ m_scan