A ScanGraph is a collection of ScanNodes, connected by ScanEdges. More...

Collaboration diagram for octomap::ScanGraph:

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)
	Creates an edge between two ScanNodes.
ScanEdge *	addEdge (unsigned int first_id, unsigned int second_id)
ScanNode *	addNode (Pointcloud *scan, pose6d pose)
	Creates a new ScanNode in the graph from a Pointcloud.
iterator	begin ()
const_iterator	begin () const
void	clear ()
	Clears all nodes and edges, and will delete the corresponding objects.
void	connectPrevious ()
	Connect previously added ScanNode to the one before that.
void	crop (point3d lowerBound, point3d upperBound)
	Cut graph (all containing Pointclouds) to given BBX in global coords.
void	cropEachScan (point3d lowerBound, point3d upperBound)
	Cut Pointclouds to given BBX in local coords.
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
unsigned int	getNumPoints (unsigned int max_id=-1) const
std::vector< ScanEdge * >	getOutEdges (ScanNode *node)
std::istream &	readBinary (std::ifstream &s)
bool	readBinary (const std::string &filename)
std::istream &	readEdgesASCII (std::istream &s)
std::istream &	readNodePosesASCII (std::istream &s)
std::istream &	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.
void	readPlainASCII (const std::string &filename)
	ScanGraph ()
unsigned int	size () const
void	transformScans ()
	Transform every scan according to its pose.
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.

Member Typedef Documentation

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

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

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

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

Constructor & Destructor Documentation

octomap::ScanGraph::ScanGraph ( ) [inline]

octomap::ScanGraph::~ScanGraph ( )

References clear().

Member Function Documentation

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:

References edges, and OCTOMAP_ERROR.

Referenced by addEdge(), and connectPrevious().

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

References addEdge(), edgeExists(), getNodeByID(), octomath::Pose6D::inv(), OCTOMAP_ERROR, and octomap::ScanNode::pose.

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

References nodes, and OCTOMAP_ERROR.

const_iterator octomap::ScanGraph::begin ( ) const [inline]

References nodes.

iterator octomap::ScanGraph::begin ( ) [inline]

References nodes.

Referenced by crop(), cropEachScan(), getNumPoints(), main(), readNodePosesASCII(), transformScans(), writeBinary(), and writeNodePosesASCII().

void octomap::ScanGraph::clear ( )

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

References edges, and nodes.

Referenced by readBinary(), and ~ScanGraph().

void octomap::ScanGraph::connectPrevious ( )

Connect previously added ScanNode to the one before that.

References addEdge(), nodes, and octomap::ScanNode::pose.

Referenced by readPlainASCII().

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

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

References begin(), octomap::Pointcloud::crop(), end(), octomath::Pose6D::inv(), octomap::Pointcloud::transform(), and octomap::Pointcloud::transformAbsolute().

Referenced by cropEachScan().

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

Cut Pointclouds to given BBX in local coords.

References begin(), crop(), and end().

bool octomap::ScanGraph::edgeExists	(	unsigned int	first_id,
		unsigned int	second_id
	)

Returns:: true when an edge between first_id and second_id exists

References edges.

Referenced by addEdge(), and getNeighborIDs().

edge_iterator octomap::ScanGraph::edges_begin ( ) [inline]

References edges.

Referenced by readNodePosesASCII(), writeBinary(), and writeEdgesASCII().

const_edge_iterator octomap::ScanGraph::edges_begin ( ) const [inline]

References edges.

edge_iterator octomap::ScanGraph::edges_end ( ) [inline]

References edges.

Referenced by readNodePosesASCII(), writeBinary(), and writeEdgesASCII().

const_edge_iterator octomap::ScanGraph::edges_end ( ) const [inline]

References edges.

iterator octomap::ScanGraph::end ( ) [inline]

References nodes.

Referenced by crop(), cropEachScan(), getNumPoints(), main(), readNodePosesASCII(), transformScans(), writeBinary(), and writeNodePosesASCII().

const_iterator octomap::ScanGraph::end ( ) const [inline]

References nodes.

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

References edges.

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

References edges.

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

References edgeExists(), getNodeByID(), octomap::ScanNode::id, and nodes.

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

will return NULL if node was not found

References nodes.

Referenced by addEdge(), getNeighborIDs(), octomap::ScanEdge::readASCII(), and octomap::ScanEdge::readBinary().

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

References begin(), and end().

Referenced by main().

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

References edges.

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

References clear(), edges, nodes, OCTOMAP_DEBUG, OCTOMAP_ERROR, OCTOMAP_ERROR_STR, OCTOMAP_WARNING_STR, octomap::ScanEdge::readBinary(), and octomap::ScanNode::readBinary().

Referenced by main(), and readBinary().

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

References OCTOMAP_ERROR_STR, and readBinary().

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

References edges, OCTOMAP_DEBUG, OCTOMAP_ERROR, and octomap::ScanEdge::readASCII().

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

References begin(), edges_begin(), edges_end(), end(), and octomap::ScanNode::pose.

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:

input stream to read from