00001 /* 00002 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 00003 * http://octomap.github.com/ 00004 * 00005 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 00006 * All rights reserved. 00007 * License: New BSD 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above copyright 00015 * notice, this list of conditions and the following disclaimer in the 00016 * documentation and/or other materials provided with the distribution. 00017 * * Neither the name of the University of Freiburg nor the names of its 00018 * contributors may be used to endorse or promote products derived from 00019 * this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00023 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00024 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00025 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00026 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00027 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00028 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00029 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00030 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 #ifndef OCTOMAP_POINTCLOUD_H 00035 #define OCTOMAP_POINTCLOUD_H 00036 00037 #include <vector> 00038 #include <list> 00039 #include <octomap/octomap_types.h> 00040 00041 namespace octomap { 00042 00047 class Pointcloud { 00048 00049 public: 00050 00051 Pointcloud(); 00052 ~Pointcloud(); 00053 00054 Pointcloud(const Pointcloud& other); 00055 Pointcloud(Pointcloud* other); 00056 00057 size_t size() const { return points.size(); } 00058 void clear(); 00059 inline void reserve(size_t size) {points.reserve(size); } 00060 00061 inline void push_back(float x, float y, float z) { 00062 points.push_back(point3d(x,y,z)); 00063 } 00064 inline void push_back(const point3d& p) { 00065 points.push_back(p); 00066 } 00067 inline void push_back(point3d* p) { 00068 points.push_back(*p); 00069 } 00070 00072 void push_back(const Pointcloud& other); 00073 00075 void writeVrml(std::string filename); 00076 00078 void transform(pose6d transform); 00079 00081 void rotate(double roll, double pitch, double yaw); 00082 00084 void transformAbsolute(pose6d transform); 00085 00087 void calcBBX(point3d& lowerBound, point3d& upperBound) const; 00089 void crop(point3d lowerBound, point3d upperBound); 00090 00091 // removes any points closer than [thres] to (0,0,0) 00092 void minDist(double thres); 00093 00094 void subSampleRandom(unsigned int num_samples, Pointcloud& sample_cloud); 00095 00096 // iterators ------------------ 00097 00098 typedef point3d_collection::iterator iterator; 00099 typedef point3d_collection::const_iterator const_iterator; 00100 iterator begin() { return points.begin(); } 00101 iterator end() { return points.end(); } 00102 const_iterator begin() const { return points.begin(); } 00103 const_iterator end() const { return points.end(); } 00104 point3d back() { return points.back(); } 00107 point3d getPoint(unsigned int i) const; // may return NULL 00108 00109 inline const point3d& operator[] (size_t i) const { return points[i]; } 00110 inline point3d& operator[] (size_t i) { return points[i]; } 00111 00112 // I/O methods 00113 00114 std::istream& readBinary(std::istream &s); 00115 std::istream& read(std::istream &s); 00116 std::ostream& writeBinary(std::ostream &s) const; 00117 00118 protected: 00119 pose6d current_inv_transform; 00120 point3d_collection points; 00121 }; 00122 00123 } 00124 00125 00126 #endif