octomap::Pointcloud Class Reference

Detailed Description

A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan.

Definition at line 63 of file Pointcloud.h.

#include <mrpt/otherlibs/octomap/Pointcloud.h>

Public Types
typedef point3d_collection::iterator	iterator
typedef point3d_collection::const_iterator	const_iterator

Public Member Functions
	Pointcloud ()
	~Pointcloud ()
	Pointcloud (const Pointcloud &other)
	Pointcloud (Pointcloud *other)
size_t	size () const
void	clear ()
void	reserve (size_t size)
void	push_back (float x, float y, float z)
void	push_back (const point3d &p)
void	push_back (point3d *p)
void	push_back (const Pointcloud &other)
	Add points from other Pointcloud. More...
void	writeVrml (std::string filename)
	Export the Pointcloud to a VRML file. More...
void	transform (pose6d transform)
	Apply transform to each point. More...
void	rotate (double roll, double pitch, double yaw)
	Rotate each point in pointcloud. More...
void	transformAbsolute (pose6d transform)
	Apply transform to each point, undo previous transforms. More...
void	calcBBX (point3d &lowerBound, point3d &upperBound) const
	Calculate bounding box of Pointcloud. More...
void	crop (point3d lowerBound, point3d upperBound)
	Crop Pointcloud to given bounding box. More...
void	minDist (double thres)
void	subSampleRandom (unsigned int num_samples, Pointcloud &sample_cloud)
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
point3d	back ()
point3d	getPoint (unsigned int i)
std::istream &	readBinary (std::istream &s)
std::istream &	read (std::istream &s)
std::ostream &	writeBinary (std::ostream &s) const

Protected Attributes
pose6d	current_inv_transform
point3d_collection	points

Member Typedef Documentation

typedef point3d_collection::const_iterator octomap::Pointcloud::const_iterator

Definition at line 115 of file Pointcloud.h.

typedef point3d_collection::iterator octomap::Pointcloud::iterator

Definition at line 114 of file Pointcloud.h.

Constructor & Destructor Documentation

octomap::Pointcloud::Pointcloud

(

)

octomap::Pointcloud::~Pointcloud

(

)

octomap::Pointcloud::Pointcloud

(

const Pointcloud &

other

)

octomap::Pointcloud::Pointcloud

(

Pointcloud *

other

)

Member Function Documentation

point3d octomap::Pointcloud::back ( )

inline

Definition at line 120 of file Pointcloud.h.

References points.

iterator octomap::Pointcloud::begin ( )

inline

Definition at line 116 of file Pointcloud.h.

References points.

const_iterator octomap::Pointcloud::begin ( ) const

inline

Definition at line 118 of file Pointcloud.h.

References points.

void octomap::Pointcloud::calcBBX	(	point3d &	lowerBound,
		point3d &	upperBound
	)		const

Calculate bounding box of Pointcloud.

void octomap::Pointcloud::clear

(

)

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().

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

Crop Pointcloud to given bounding box.

iterator octomap::Pointcloud::end ( )

inline

Definition at line 117 of file Pointcloud.h.

References points.

const_iterator octomap::Pointcloud::end ( ) const

inline

Definition at line 119 of file Pointcloud.h.

References points.

point3d octomap::Pointcloud::getPoint

(

unsigned int

i

)

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_computeObservationLikelihood().

void octomap::Pointcloud::minDist

(

double

thres

)

void octomap::Pointcloud::push_back ( float  x, float  y, float  z  )

inline

Definition at line 77 of file Pointcloud.h.

References points.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().

void octomap::Pointcloud::push_back ( const point3d &  p )

inline

Definition at line 80 of file Pointcloud.h.

References points.

void octomap::Pointcloud::push_back ( point3d *  p )

inline

Definition at line 83 of file Pointcloud.h.

References points.

void octomap::Pointcloud::push_back

(

const Pointcloud &

other

)

Add points from other Pointcloud.

std::istream& octomap::Pointcloud::read

(

std::istream &

s

)

std::istream& octomap::Pointcloud::readBinary

(

std::istream &

s

)

void octomap::Pointcloud::reserve ( size_t  size )

inline

Definition at line 75 of file Pointcloud.h.

References points.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().

void octomap::Pointcloud::rotate	(	double	roll,
		double	pitch,
		double	yaw
	)

Rotate each point in pointcloud.

size_t octomap::Pointcloud::size ( ) const

inline

Definition at line 73 of file Pointcloud.h.

References points.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_computeObservationLikelihood().

void octomap::Pointcloud::subSampleRandom	(	unsigned int	num_samples,
		Pointcloud &	sample_cloud
	)

void octomap::Pointcloud::transform

(

pose6d

transform

)

Apply transform to each point.

void octomap::Pointcloud::transformAbsolute

(

pose6d

transform

)

Apply transform to each point, undo previous transforms.

std::ostream& octomap::Pointcloud::writeBinary

(

std::ostream &

s

)

const

void octomap::Pointcloud::writeVrml

(

std::string

filename

)

Export the Pointcloud to a VRML file.

Member Data Documentation

pose6d octomap::Pointcloud::current_inv_transform

protected

Definition at line 130 of file Pointcloud.h.

point3d_collection octomap::Pointcloud::points

protected

Definition at line 131 of file Pointcloud.h.

Referenced by back(), begin(), end(), push_back(), reserve(), and size().