Metascan.hpp
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1 
34 #ifndef METASCAN_HPP_
35 #define METASCAN_HPP_
36 
37 #include "SLAMScanWrapper.hpp"
38 
39 namespace lvr2
40 {
41 
47 class Metascan : public SLAMScanWrapper
48 {
49 public:
50  Metascan();
51 
52  virtual ~Metascan() = default;
53 
54  virtual void transform(const Transformd& transform, bool writeFrame = true, FrameUse use = FrameUse::UPDATED) override;
55  virtual Vector3d point(size_t index) const override;
56 
57  void addScan(SLAMScanPtr scan);
58 
59 protected:
60  std::vector<SLAMScanPtr> m_scans;
61 };
62 
63 } /* namespace lvr2 */
64 
65 #endif /* METASCAN_HPP_ */
lvr2::SLAMScanWrapper
A Wrapper around Scan to allow for SLAM usage.
Definition: SLAMScanWrapper.hpp:65
transform
Definition: src/tools/lvr2_transform/Options.cpp:44
lvr2::Metascan
Represents several Scans as part of a single Scan.
Definition: Metascan.hpp:47
lvr2::FrameUse::UPDATED
@ UPDATED
The Scan changed since the last Frame.
lvr2::Transformd
Transform< double > Transformd
4x4 double precision transformation matrix
Definition: MatrixTypes.hpp:71
lvr2::writeFrame
void writeFrame(const Transform< T > &transform, const boost::filesystem::path &framesOut)
Writes a Eigen transformation into a .frames file.
SLAMScanWrapper.hpp
lvr2::Metascan::m_scans
std::vector< SLAMScanPtr > m_scans
Definition: Metascan.hpp:60
lvr2::Metascan::~Metascan
virtual ~Metascan()=default
lvr2::Metascan::transform
virtual void transform(const Transformd &transform, bool writeFrame=true, FrameUse use=FrameUse::UPDATED) override
Applies a relative Transformation to the Scan.
Definition: Metascan.cpp:45
lvr2::Metascan::point
virtual Vector3d point(size_t index) const override
Returns the Point at the specified index in global Coordinates.
Definition: Metascan.cpp:59
lvr2::SLAMScanPtr
std::shared_ptr< SLAMScanWrapper > SLAMScanPtr
Definition: SLAMScanWrapper.hpp:221
lvr2::Metascan::Metascan
Metascan()
Definition: Metascan.cpp:39
lvr2::Vector3d
Eigen::Vector3d Vector3d
Eigen 3D vector, double precision.
Definition: MatrixTypes.hpp:121
lvr2::FrameUse
FrameUse
Annotates the use of a Scan when creating an slam6D .frames file.
Definition: SLAMScanWrapper.hpp:48
lvr2::Metascan::addScan
void addScan(SLAMScanPtr scan)
Definition: Metascan.cpp:72
lvr2
Definition: BaseBufferManipulators.hpp:39

lvr2
Author(s): Thomas Wiemann , Sebastian Pütz , Alexander Mock , Lars Kiesow , Lukas Kalbertodt , Tristan Igelbrink , Johan M. von Behren , Dominik Feldschnieders , Alexander Löhr
autogenerated on Wed Mar 2 2022 00:37:24