59 lines
1.3 KiB
Text
59 lines
1.3 KiB
Text
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/*
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* metascan implementation
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*
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* Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher
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*
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* Released under the GPL version 3.
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*
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*/
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#include "slam6d/metaScan.h"
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#include "slam6d/kdMeta.h"
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#ifdef WITH_METRICS
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#include "slam6d/metrics.h"
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#endif
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MetaScan::MetaScan(std::vector<Scan*> scans, int nns_method, bool cuda_enabled) :
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m_scans(scans)
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{
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// add this to the global vector for addFrame reasons
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Scan::allScans.push_back(this);
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}
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MetaScan::~MetaScan()
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{
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// remove this from the global vector for addFrame reasons
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for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) {
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if(*it == this) {
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Scan::allScans.erase(it);
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break;
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}
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}
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}
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void MetaScan::createSearchTreePrivate()
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{
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#ifdef WITH_METRICS
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Timer tc = ClientMetric::create_metatree_time.start();
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#endif //WITH_METRICS
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// TODO: there is no nns_type switch or cuda option for this one because no reduced points are copied, this could be implemented if e.g. cuda is required on metascans
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kd = new KDtreeMetaManaged(m_scans);
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#ifdef WITH_METRICS
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ClientMetric::create_metatree_time.end(tc);
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#endif //WITH_METRICS
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}
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unsigned int MetaScan::size() const
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{
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return m_scans.size();
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}
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Scan* MetaScan::getScan(unsigned int i) const
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{
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return m_scans.at(i);
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}
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