A class to run SLAM on Scans. More...

#include <SLAMAlign.hpp>

Public Member Functions
void	addScan (const ScanPtr &scan, bool match=false)
	Adds a new Scan to the SLAM instance. More...

void	addScan (const SLAMScanPtr &scan, bool match=false)
	Adds a new Scan to the SLAM instance. More...

void	finish ()
	Indicates that no new Scans will be added. More...

void	match ()
	Executes SLAM on all current Scans. More...

SLAMOptions &	options ()
	Returns a reference to the internal SLAMOptions struct. More...

const SLAMOptions &	options () const
	Returns a reference to the internal SLAMOptions struct. More...

SLAMScanPtr	scan (size_t index) const
	Returns a shared_ptr to a Scan. More...

void	setOptions (const SLAMOptions &options)
	Sets the SLAMOptions struct to the parameter. More...

	SLAMAlign (const SLAMOptions &options, const std::vector< SLAMScanPtr > &scans, std::vector< bool > new_scans=std::vector< bool >())
	Creates a new SLAMAlign instance with the given Options and Scans. More...

	SLAMAlign (const SLAMOptions &options=SLAMOptions(), std::vector< bool > new_scans=std::vector< bool >())
	Creates a new SLAMAlign instance with the given Options. More...

virtual	~SLAMAlign ()=default

Protected Member Functions
void	applyTransform (SLAMScanPtr scan, const Matrix4d &transform)
	Applies the Transformation to the specified Scan and adds a frame to all other Scans. More...

void	checkLoopClose (size_t last)
	Checks for and executes any loopcloses that occur. More...

void	checkLoopCloseOtherOrder (size_t last)
	checkLoopClose(size_t last) if the m_icp_graph is in a spezial order More...

void	createIcpGraph ()
	Create m_icp_graph which defined the order of registrations. More...

void	graphSLAM (size_t last)
	Executes GraphSLAM up to and including the specified last Scan. More...

void	loopClose (size_t first, size_t last)
	Closes a simple Loop between first and last. More...

void	reduceScan (const SLAMScanPtr &scan)
	Applies all reductions to the Scan. More...

Protected Attributes
bool	m_foundLoop

GraphSLAM	m_graph

std::vector< std::pair< int, int > >	m_icp_graph

int	m_loopIndexCount

SLAMScanPtr	m_metascan

std::vector< bool >	m_new_scans

SLAMOptions	m_options

std::vector< SLAMScanPtr >	m_scans

Detailed Description

A class to run SLAM on Scans.

Definition at line 48 of file SLAMAlign.hpp.

Constructor & Destructor Documentation

◆ SLAMAlign() [1/2]

lvr2::SLAMAlign::SLAMAlign	(	const SLAMOptions &	options,
		const std::vector< SLAMScanPtr > &	scans,
		std::vector< bool >	new_scans = `std::vector< bool >()`
	)

Creates a new SLAMAlign instance with the given Options and Scans.

This does not yet register the Scans, it only applies reduction options if specified

Parameters

options	The Options to use
scans	The Scans to start with

◆ SLAMAlign() [2/2]

lvr2::SLAMAlign::SLAMAlign	(	const SLAMOptions &	options = `SLAMOptions()`,
		std::vector< bool >	new_scans = `std::vector<bool>()`
	)

Creates a new SLAMAlign instance with the given Options.

Parameters

options The Options to use

Definition at line 57 of file SLAMAlign.cpp.

◆ ~SLAMAlign()

virtual lvr2::SLAMAlign::~SLAMAlign ( )

virtualdefault

Member Function Documentation

◆ addScan() [1/2]

void lvr2::SLAMAlign::addScan	(	const ScanPtr &	scan,
		bool	match = `false`
	)

Adds a new Scan to the SLAM instance.

This method will apply any reduction options that are specified

Parameters

scan	The new Scan
match	true: Immediately call match() with the new Scan added

Definition at line 88 of file SLAMAlign.cpp.

◆ addScan() [2/2]

void lvr2::SLAMAlign::addScan	(	const SLAMScanPtr &	scan,
		bool	match = `false`
	)

Adds a new Scan to the SLAM instance.

This method will apply any reduction options that are specified

Parameters

scan	The new Scan
match	true: Immediately call match() with the new Scan added

Definition at line 77 of file SLAMAlign.cpp.

◆ applyTransform()

void lvr2::SLAMAlign::applyTransform	(	SLAMScanPtr	scan,
		const Matrix4d &	transform
	)

protected

Applies the Transformation to the specified Scan and adds a frame to all other Scans.

Definition at line 207 of file SLAMAlign.cpp.

◆ checkLoopClose()

void lvr2::SLAMAlign::checkLoopClose ( size_t last )

protected

Checks for and executes any loopcloses that occur.

Definition at line 269 of file SLAMAlign.cpp.

◆ checkLoopCloseOtherOrder()

void lvr2::SLAMAlign::checkLoopCloseOtherOrder ( size_t last )

protected

checkLoopClose(size_t last) if the m_icp_graph is in a spezial order

same as checkLoopClose(size_t last) but if the m_icp_graph is in a spezial order

Same as checkLoopClose(size_t last) but if the m_icp_graph is in a spezial order.

Definition at line 228 of file SLAMAlign.cpp.

◆ createIcpGraph()

void lvr2::SLAMAlign::createIcpGraph ( )

protected

Create m_icp_graph which defined the order of registrations.

Create m_icp_graph which defined the order of registrations. The first scan is regarded as registered. Then the scan that is closest to one of the already matched scans is always added. Therefore the scan centers were compared using Euclidean distance.

Definition at line 385 of file SLAMAlign.cpp.

◆ finish()

void lvr2::SLAMAlign::finish ( )

Indicates that no new Scans will be added.

This method ensures that all Scans are properly registered, including any Loopclosing

Definition at line 369 of file SLAMAlign.cpp.

◆ graphSLAM()

void lvr2::SLAMAlign::graphSLAM ( size_t last )

protected

Executes GraphSLAM up to and including the specified last Scan.

Definition at line 364 of file SLAMAlign.cpp.

◆ loopClose()

void lvr2::SLAMAlign::loopClose	(	size_t	first,
		size_t	last
	)

protected

Closes a simple Loop between first and last.

Definition at line 312 of file SLAMAlign.cpp.

◆ match()

void lvr2::SLAMAlign::match ( )

Executes SLAM on all current Scans.

This methods registers any new Scans added since the last call to match() (or the creation of this instance) using Scanmatching and Loopclosing, as specified by the SLAMOptions.

Calling this method several times without adding any new Scans has no additional effect after the first call.

Definition at line 125 of file SLAMAlign.cpp.

◆ options() [1/2]

const SLAMOptions & lvr2::SLAMAlign::options ( )

Returns a reference to the internal SLAMOptions struct.

This can be used to make changes to specific values within the SLAMOptions without replacing the entire struct.

Note that changing options on an active SLAMAlign instance with previously added / matched Scans can cause Undefined Behaviour.

Definition at line 67 of file SLAMAlign.cpp.

◆ options() [2/2]

const SLAMOptions& lvr2::SLAMAlign::options ( ) const

Returns a reference to the internal SLAMOptions struct.

◆ reduceScan()

void lvr2::SLAMAlign::reduceScan ( const SLAMScanPtr & scan )

protected

Applies all reductions to the Scan.

Definition at line 98 of file SLAMAlign.cpp.

◆ scan()

SLAMScanPtr lvr2::SLAMAlign::scan ( size_t index ) const

Returns a shared_ptr to a Scan.

Parameters

index The index of the Scan

Definition at line 93 of file SLAMAlign.cpp.

◆ setOptions()

void lvr2::SLAMAlign::setOptions ( const SLAMOptions & options )

Sets the SLAMOptions struct to the parameter.

Note that changing options on an active SLAMAlign instance with previously added / matched Scans can cause Undefined Behaviour.

Parameters

options The new options

Definition at line 62 of file SLAMAlign.cpp.

Member Data Documentation

◆ m_foundLoop

bool lvr2::SLAMAlign::m_foundLoop

protected

Definition at line 184 of file SLAMAlign.hpp.

◆ m_graph

GraphSLAM lvr2::SLAMAlign::m_graph

protected

Definition at line 183 of file SLAMAlign.hpp.

◆ m_icp_graph

std::vector<std::pair<int, int> > lvr2::SLAMAlign::m_icp_graph

protected

Definition at line 189 of file SLAMAlign.hpp.

◆ m_loopIndexCount

int lvr2::SLAMAlign::m_loopIndexCount

protected

Definition at line 185 of file SLAMAlign.hpp.

◆ m_metascan

SLAMScanPtr lvr2::SLAMAlign::m_metascan

protected

Definition at line 181 of file SLAMAlign.hpp.

◆ m_new_scans

std::vector<bool> lvr2::SLAMAlign::m_new_scans

protected

Definition at line 187 of file SLAMAlign.hpp.

◆ m_options

SLAMOptions lvr2::SLAMAlign::m_options

protected

Definition at line 177 of file SLAMAlign.hpp.

◆ m_scans

std::vector<SLAMScanPtr> lvr2::SLAMAlign::m_scans

protected

Definition at line 179 of file SLAMAlign.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAMAlign() [1/2]

◆ SLAMAlign() [2/2]

◆ ~SLAMAlign()

Member Function Documentation

◆ addScan() [1/2]

◆ addScan() [2/2]

◆ applyTransform()

◆ checkLoopClose()

◆ checkLoopCloseOtherOrder()

◆ createIcpGraph()

◆ finish()

◆ graphSLAM()

◆ loopClose()

◆ match()

◆ options() [1/2]

◆ options() [2/2]

◆ reduceScan()

◆ scan()

◆ setOptions()

Member Data Documentation

◆ m_foundLoop

◆ m_graph

◆ m_icp_graph

◆ m_loopIndexCount

◆ m_metascan

◆ m_new_scans

◆ m_options

◆ m_scans