Metascan.cpp

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#include "lvr2/registration/Metascan.hpp"

namespace lvr2
{

Metascan::Metascan()
    : SLAMScanWrapper(ScanPtr(nullptr))
{

}

void Metascan::transform(const Transformd& transform, bool writeFrame, FrameUse use)
{
    for (auto& scan : m_scans)
    {
        scan->transform(transform, writeFrame, use);
    }
    m_deltaPose = transform * m_deltaPose;

    if (writeFrame)
    {
        addFrame(use);
    }
}

Vector3d Metascan::point(size_t index) const
{
    for (auto& scan : m_scans)
    {
        if (index < scan->numPoints())
        {
            return scan->point(index);
        }
        index -= scan->numPoints();
    }
    return Vector3d();
}

void Metascan::addScan(SLAMScanPtr scan)
{
    m_scans.push_back(scan);
    m_numPoints += scan->numPoints();
    m_deltaPose = scan->deltaPose();
}

} /* namespace lvr2 */