#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. More...

void	connectPrevious ()
	Connect previously added ScanNode to the one before that. More...

void	crop (point3d lowerBound, point3d upperBound)
	Cut graph (all containing Pointclouds) to given BBX in global coords. More...

void	cropEachScan (point3d lowerBound, point3d upperBound)
	Cut Pointclouds to given BBX in local coords. More...

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 More...

size_t	getNumPoints (unsigned int max_id=-1) const

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

bool	readBinary (const std::string &filename)

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

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

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

void	readPlainASCII (const std::string &filename)

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

	ScanGraph ()

size_t	size () const

void	transformScans ()
	Transform every scan according to its pose. More...

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

std::ostream &	writeBinary (std::ostream &s) 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

◆ const_edge_iterator

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

Definition at line 184 of file ScanGraph.h.

◆ const_iterator

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

Definition at line 174 of file ScanGraph.h.

◆ edge_iterator

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

Definition at line 183 of file ScanGraph.h.

◆ iterator

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

Definition at line 173 of file ScanGraph.h.

Constructor & Destructor Documentation

◆ ScanGraph()

octomap::ScanGraph::ScanGraph ( )

inline

Definition at line 118 of file ScanGraph.h.

◆ ~ScanGraph()

octomap::ScanGraph::~ScanGraph ( )

Definition at line 163 of file ScanGraph.cpp.

Member Function Documentation

◆ addEdge() [1/2]

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 191 of file ScanGraph.cpp.

◆ addEdge() [2/2]

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

Definition at line 205 of file ScanGraph.cpp.

◆ addNode()

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 179 of file ScanGraph.cpp.

◆ begin() [1/2]

iterator octomap::ScanGraph::begin ( )

inline

Definition at line 175 of file ScanGraph.h.

◆ begin() [2/2]

const_iterator octomap::ScanGraph::begin ( ) const

inline

Definition at line 177 of file ScanGraph.h.

◆ clear()

void octomap::ScanGraph::clear ( )

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

Definition at line 167 of file ScanGraph.cpp.

◆ connectPrevious()

void octomap::ScanGraph::connectPrevious ( )

Connect previously added ScanNode to the one before that.

Definition at line 226 of file ScanGraph.cpp.

◆ crop()

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

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

Definition at line 596 of file ScanGraph.cpp.

◆ cropEachScan()

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

Cut Pointclouds to given BBX in local coords.

Definition at line 588 of file ScanGraph.cpp.

◆ edgeExists()

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 259 of file ScanGraph.cpp.

◆ edges_begin() [1/2]

edge_iterator octomap::ScanGraph::edges_begin ( )

inline

Definition at line 185 of file ScanGraph.h.

◆ edges_begin() [2/2]

const_edge_iterator octomap::ScanGraph::edges_begin ( ) const

inline

Definition at line 187 of file ScanGraph.h.

◆ edges_end() [1/2]

edge_iterator octomap::ScanGraph::edges_end ( )

inline

Definition at line 186 of file ScanGraph.h.

◆ edges_end() [2/2]

const_edge_iterator octomap::ScanGraph::edges_end ( ) const

inline

Definition at line 188 of file ScanGraph.h.

◆ end() [1/2]

iterator octomap::ScanGraph::end ( )

inline

Definition at line 176 of file ScanGraph.h.

◆ end() [2/2]

const_iterator octomap::ScanGraph::end ( ) const

inline

Definition at line 178 of file ScanGraph.h.

◆ exportDot()

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

Definition at line 236 of file ScanGraph.cpp.

◆ getInEdges()

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

Definition at line 299 of file ScanGraph.cpp.

◆ getNeighborIDs()

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

Definition at line 272 of file ScanGraph.cpp.

◆ getNodeByID()

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

will return NULL if node was not found

Definition at line 252 of file ScanGraph.cpp.

◆ getNumPoints()

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

Definition at line 611 of file ScanGraph.cpp.

◆ getOutEdges()

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

Definition at line 287 of file ScanGraph.cpp.

◆ readBinary() [1/2]

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

Definition at line 358 of file ScanGraph.cpp.

◆ readBinary() [2/2]

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

Definition at line 369 of file ScanGraph.cpp.

◆ readEdgesASCII()

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

Definition at line 510 of file ScanGraph.cpp.

◆ readNodePosesASCII()

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

Definition at line 556 of file ScanGraph.cpp.

◆ readPlainASCII() [1/2]

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

Definition at line 426 of file ScanGraph.cpp.

◆ readPlainASCII() [2/2]

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 436 of file ScanGraph.cpp.

◆ size()

size_t octomap::ScanGraph::size ( ) const

inline

Definition at line 180 of file ScanGraph.h.

◆ transformScans()

void octomap::ScanGraph::transformScans ( )

Transform every scan according to its pose.

Definition at line 311 of file ScanGraph.cpp.

◆ writeBinary() [1/2]

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

Definition at line 317 of file ScanGraph.cpp.

◆ writeBinary() [2/2]

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

Definition at line 328 of file ScanGraph.cpp.

◆ writeEdgesASCII()

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

Definition at line 491 of file ScanGraph.cpp.

◆ writeNodePosesASCII()

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

Definition at line 543 of file ScanGraph.cpp.

Member Data Documentation

◆ edges

std::vector<ScanEdge*> octomap::ScanGraph::edges

protected

Definition at line 225 of file ScanGraph.h.

◆ nodes

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

◆ const_edge_iterator

◆ const_iterator

◆ edge_iterator

◆ iterator

Constructor & Destructor Documentation

◆ ScanGraph()

◆ ~ScanGraph()

Member Function Documentation

◆ addEdge() [1/2]

◆ addEdge() [2/2]

◆ addNode()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ connectPrevious()

◆ crop()

◆ cropEachScan()

◆ edgeExists()

◆ edges_begin() [1/2]

◆ edges_begin() [2/2]

◆ edges_end() [1/2]

◆ edges_end() [2/2]

◆ end() [1/2]

◆ end() [2/2]

◆ exportDot()

◆ getInEdges()

◆ getNeighborIDs()

◆ getNodeByID()

◆ getNumPoints()

◆ getOutEdges()

◆ readBinary() [1/2]

◆ readBinary() [2/2]

◆ readEdgesASCII()

◆ readNodePosesASCII()

◆ readPlainASCII() [1/2]

◆ readPlainASCII() [2/2]

◆ size()

◆ transformScans()

◆ writeBinary() [1/2]

◆ writeBinary() [2/2]

◆ writeEdgesASCII()

◆ writeNodePosesASCII()

Member Data Documentation

◆ edges

◆ nodes