Represents several Scans as part of a single Scan. More...
#include <Metascan.hpp>
Inheritance diagram for lvr2::Metascan:
Public Member Functions | |
| void | addScan (SLAMScanPtr scan) |
| Metascan () | |
| virtual Vector3d | point (size_t index) const override |
| Returns the Point at the specified index in global Coordinates. More... | |
| virtual void | transform (const Transformd &transform, bool writeFrame=true, FrameUse use=FrameUse::UPDATED) override |
| Applies a relative Transformation to the Scan. More... | |
| virtual | ~Metascan ()=default |
 Public Member Functions inherited from lvr2::SLAMScanWrapper | |
| void | addFrame (FrameUse use=FrameUse::UNUSED) |
| Adds a new animation Frame with the current Pose. More... | |
| const Transformd & | deltaPose () const |
| Returns the difference between pose() and initialPose() More... | |
| const std::pair< Transformd, FrameUse > & | frame (size_t index) const |
| Returns a Frame consisting of a Pose and a FrameUse. More... | |
| size_t | frameCount () const |
| Returns the number of Frames generated. More... | |
| Vector3d | getPosition () const |
| Get the Position of the Scan. Can also be obtained from pose() More... | |
| const Transformd & | initialPose () const |
| Returns the initial Pose of the Scan. More... | |
| ScanPtr | innerScan () |
| Access to the Scan that this instance is wrapped around. More... | |
| size_t | numPoints () const |
| Returns the number of Points in the Scan. More... | |
| const Transformd & | pose () const |
| Returns the current Pose of the Scan. More... | |
| const Vector3f & | rawPoint (size_t index) const |
| Returns the Point at the specified index in local Coordinates. More... | |
| void | reduce (double voxelSize, int maxLeafSize) |
| Reduces the Scan using Octree Reduction. More... | |
| void | setMaxDistance (double maxDistance) |
| Reduces the Scan by removing all Points farther away than maxDistance to the origin. More... | |
| void | setMinDistance (double minDistance) |
| Reduces the Scan by removing all Points closer than minDistance to the origin. More... | |
| SLAMScanWrapper (ScanPtr scan) | |
| Construct a new SLAMScanWrapper object as a Wrapper around the Scan. More... | |
| void | trim () |
| Reduces Memory usage by getting rid of Points removed with reduction Methods. More... | |
| void | writeFrames (std::string path) const |
| Writes the Frames to the specified location. More... | |
| virtual | ~SLAMScanWrapper ()=default |
Protected Attributes | |
| std::vector< SLAMScanPtr > | m_scans |
| Protected Attributes inherited from lvr2::SLAMScanWrapper | |
| Transformd | m_deltaPose |
| std::vector< std::pair< Transformd, FrameUse > > | m_frames |
| size_t | m_numPoints |
| std::vector< Vector3f > | m_points |
| ScanPtr | m_scan |
Detailed Description
Represents several Scans as part of a single Scan.
Note that most methods of Scan don't make sense on a Metascan, like reductions or Pose getters.
Definition at line 47 of file Metascan.hpp.
Constructor & Destructor Documentation
◆ Metascan()
| lvr2::Metascan::Metascan | ( | ) |
Definition at line 39 of file Metascan.cpp.
◆ ~Metascan()
|
virtualdefault |
Member Function Documentation
◆ addScan()
| void lvr2::Metascan::addScan | ( | SLAMScanPtr | scan | ) |
Definition at line 72 of file Metascan.cpp.
◆ point()
|
overridevirtual |
Returns the Point at the specified index in global Coordinates.
- Parameters
-
index the Index
- Returns
- Vector3d the Point in global Coordinates
Reimplemented from lvr2::SLAMScanWrapper.
Definition at line 59 of file Metascan.cpp.
◆ transform()
|
overridevirtual |
Applies a relative Transformation to the Scan.
- Parameters
-
transform The Transformation writeFrame weather or not to add a new animation Frame use The FrameUse if writeFrame is set to true
Reimplemented from lvr2::SLAMScanWrapper.
Definition at line 45 of file Metascan.cpp.
Member Data Documentation
◆ m_scans
|
protected |
Definition at line 60 of file Metascan.hpp.
The documentation for this class was generated from the following files: