SLAMScanWrapper.hpp

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#ifndef SLAMSCANWRAPPER_HPP_
#define SLAMSCANWRAPPER_HPP_
 
#include "lvr2/types/ScanTypes.hpp"
 
#include <Eigen/Dense>
#include <vector>
 
namespace lvr2
{
 
enum class FrameUse
{
    INVALID = 0,
    UPDATED = 1,
    UNUSED = 2,
    GRAPHSLAM = 3,
    LOOPCLOSE = 4,
};
 
class SLAMScanWrapper
{
public:
    SLAMScanWrapper(ScanPtr scan);
 
    virtual ~SLAMScanWrapper() = default;
 
    ScanPtr innerScan();
 
 
    virtual void transform(const Transformd& transform, bool writeFrame = true, FrameUse use = FrameUse::UPDATED);
 
    void addFrame(FrameUse use = FrameUse::UNUSED);
 
 
    void reduce(double voxelSize, int maxLeafSize);
 
    void setMinDistance(double minDistance);
 
    void setMaxDistance(double maxDistance);
 
    void trim();
 
 
    virtual Vector3d point(size_t index) const;
 
    const Vector3f& rawPoint(size_t index) const;
 
    size_t numPoints() const;
 
 
    const Transformd& pose() const;
 
    const Transformd& deltaPose() const;
 
    const Transformd& initialPose() const;
 
    Vector3d getPosition() const;
 
    size_t frameCount() const;
 
    const std::pair<Transformd, FrameUse>& frame(size_t index) const;
 
    void writeFrames(std::string path) const;
 
protected:
    ScanPtr               m_scan;
 
    std::vector<Vector3f> m_points;
    size_t                m_numPoints;
 
    Transformd            m_deltaPose;
 
    std::vector<std::pair<Transformd, FrameUse>> m_frames;
};
 
using SLAMScanPtr = std::shared_ptr<SLAMScanWrapper>;
 
} /* namespace lvr2 */
 
#endif /* SLAMSCANWRAPPER_HPP_ */