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. More...

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. More...

iterator	begin ()

const_iterator	begin () const

void	clear ()
	Clears all nodes and edges, and will delete the corresponding objects. More...

void	connectPrevious ()
	Connect previously added ScanNode to the one before that. More...

void	crop (point3d lowerBound, point3d upperBound)
	Cut graph (all containing Pointclouds) to given BBX in global coords. More...

void	cropEachScan (point3d lowerBound, point3d upperBound)
	Cut Pointclouds to given BBX in local coords. More...

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 More...

size_t	getNumPoints (unsigned int max_id=-1) const

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

bool	readBinary (const std::string &filename)

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

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

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

void	readPlainASCII (const std::string &filename)

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. More...

	ScanGraph ()

size_t	size () const

void	transformScans ()
	Transform every scan according to its pose. More...

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

◆ const_edge_iterator

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

◆ const_iterator

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

◆ edge_iterator

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

◆ iterator

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

Constructor & Destructor Documentation

◆ ScanGraph()

octomap::ScanGraph::ScanGraph ( )

inline

◆ ~ScanGraph()

octomap::ScanGraph::~ScanGraph ( )

References clear().

Member Function Documentation

◆ addEdge() [1/2]

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().

◆ addEdge() [2/2]

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.

◆ addNode()

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.

Referenced by main().

◆ begin() [1/2]

iterator octomap::ScanGraph::begin ( )

inline

References nodes.

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

◆ begin() [2/2]

const_iterator octomap::ScanGraph::begin ( ) const

inline

References nodes.

◆ clear()

void octomap::ScanGraph::clear ( )

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

References edges, and nodes.

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

◆ connectPrevious()

void octomap::ScanGraph::connectPrevious ( )

Connect previously added ScanNode to the one before that.

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

Referenced by readPlainASCII().

◆ crop()

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().

◆ cropEachScan()

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

Cut Pointclouds to given BBX in local coords.

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

◆ edgeExists()

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().

◆ edges_begin() [1/2]

edge_iterator octomap::ScanGraph::edges_begin ( )

inline

References edges.

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

◆ edges_begin() [2/2]

const_edge_iterator octomap::ScanGraph::edges_begin ( ) const

inline

References edges.

◆ edges_end() [1/2]

edge_iterator octomap::ScanGraph::edges_end ( )

inline

References edges.

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

◆ edges_end() [2/2]

const_edge_iterator octomap::ScanGraph::edges_end ( ) const

inline

References edges.

◆ end() [1/2]

iterator octomap::ScanGraph::end ( )

inline

References nodes.

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

◆ end() [2/2]

const_iterator octomap::ScanGraph::end ( ) const

inline

References nodes.

◆ exportDot()

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

References edges.

◆ getInEdges()

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

References edges.

◆ getNeighborIDs()

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

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

◆ getNodeByID()

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().

◆ getNumPoints()

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

References begin(), and end().

Referenced by main().

◆ getOutEdges()

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

References edges.

◆ readBinary() [1/2]

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

References OCTOMAP_ERROR_STR, and readBinary().

◆ readBinary() [2/2]

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

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

Referenced by main(), and readBinary().

◆ readEdgesASCII()

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

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

◆ readNodePosesASCII()

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

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

◆ readPlainASCII() [1/2]

void octomap::ScanGraph::readPlainASCII ( const std::string & filename )

References OCTOMAP_ERROR_STR, and readPlainASCII().

◆ readPlainASCII() [2/2]

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

s	input stream to read from

Returns: read stream

References connectPrevious(), nodes, OCTOMAP_DEBUG_STR, OCTOMAP_ERROR_STR, octomap::ScanNode::pose, octomap::Pointcloud::push_back(), octomap::ScanNode::scan, and octomap::Pointcloud::size().

Referenced by main(), and readPlainASCII().

◆ size()

size_t octomap::ScanGraph::size ( ) const

inline

References nodes.

Referenced by main(), writeBinary(), and writeNodePosesASCII().

◆ transformScans()

void octomap::ScanGraph::transformScans ( )

Transform every scan according to its pose.

References begin(), and end().

◆ writeBinary() [1/2]

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

References OCTOMAP_ERROR_STR, and writeBinary().

◆ writeBinary() [2/2]

std::ostream & octomap::ScanGraph::writeBinary ( std::ostream & s ) const

References begin(), edges, edges_begin(), edges_end(), end(), OCTOMAP_DEBUG, and size().

Referenced by main(), and writeBinary().

◆ writeEdgesASCII()

std::ostream & octomap::ScanGraph::writeEdgesASCII ( std::ostream & s ) const

References edges, edges_begin(), edges_end(), and OCTOMAP_DEBUG_STR.

◆ writeNodePosesASCII()

std::ostream & octomap::ScanGraph::writeNodePosesASCII ( std::ostream & s ) const

References begin(), end(), OCTOMAP_DEBUG, and size().

Field Documentation

◆ edges

std::vector<ScanEdge*> octomap::ScanGraph::edges

protected

Referenced by addEdge(), clear(), edgeExists(), edges_begin(), edges_end(), exportDot(), getInEdges(), getOutEdges(), readBinary(), readEdgesASCII(), writeBinary(), and writeEdgesASCII().

◆ nodes

std::vector<ScanNode*> octomap::ScanGraph::nodes

protected

Referenced by addNode(), begin(), clear(), connectPrevious(), end(), getNeighborIDs(), getNodeByID(), readBinary(), readPlainASCII(), and size().

The documentation for this class was generated from the following files:

include/octomap/ScanGraph.h
src/ScanGraph.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ const_edge_iterator

◆ const_iterator

◆ edge_iterator

◆ iterator

Constructor & Destructor Documentation

◆ ScanGraph()

◆ ~ScanGraph()

Member Function Documentation

◆ addEdge() [1/2]

◆ addEdge() [2/2]

◆ addNode()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ connectPrevious()

◆ crop()

◆ cropEachScan()

◆ edgeExists()

◆ edges_begin() [1/2]

◆ edges_begin() [2/2]

◆ edges_end() [1/2]

◆ edges_end() [2/2]

◆ end() [1/2]

◆ end() [2/2]

◆ exportDot()

◆ getInEdges()

◆ getNeighborIDs()

◆ getNodeByID()

◆ getNumPoints()

◆ getOutEdges()

◆ readBinary() [1/2]

◆ readBinary() [2/2]

◆ readEdgesASCII()

◆ readNodePosesASCII()

◆ readPlainASCII() [1/2]

◆ readPlainASCII() [2/2]

◆ size()

◆ transformScans()

◆ writeBinary() [1/2]

◆ writeBinary() [2/2]

◆ writeEdgesASCII()

◆ writeNodePosesASCII()

Field Documentation

◆ edges

◆ nodes