3dpcp/.svn/pristine/fa/fa4a59844fc48f9c0a266423b0e119dde9449ac0.svn-base

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2012-09-16 12:33:11 +00:00
/*
* metascan implementation
*
* Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher
*
* Released under the GPL version 3.
*
*/
#include "slam6d/metaScan.h"
#include "slam6d/kdMeta.h"
#ifdef WITH_METRICS
#include "slam6d/metrics.h"
#endif
MetaScan::MetaScan(std::vector<Scan*> scans, int nns_method, bool cuda_enabled) :
m_scans(scans)
{
// add this to the global vector for addFrame reasons
Scan::allScans.push_back(this);
}
MetaScan::~MetaScan()
{
// remove this from the global vector for addFrame reasons
for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) {
if(*it == this) {
Scan::allScans.erase(it);
break;
}
}
}
void MetaScan::createSearchTreePrivate()
{
#ifdef WITH_METRICS
Timer tc = ClientMetric::create_metatree_time.start();
#endif //WITH_METRICS
// 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
kd = new KDtreeMetaManaged(m_scans);
#ifdef WITH_METRICS
ClientMetric::create_metatree_time.end(tc);
#endif //WITH_METRICS
}
unsigned int MetaScan::size() const
{
return m_scans.size();
}
Scan* MetaScan::getScan(unsigned int i) const
{
return m_scans.at(i);
}