Class Pointcloud

Defined in File Pointcloud.h

Class Documentation

class Pointcloud

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

Public Types

typedef point3d_collection::iterator iterator

typedef point3d_collection::const_iterator const_iterator

Public Functions

Pointcloud()

~Pointcloud()

Pointcloud(const Pointcloud &other)

Pointcloud(Pointcloud *other)

inline size_t size() const

void clear()

inline void reserve(size_t size)

inline void push_back(float x, float y, float z)

inline void push_back(const point3d &p)

inline void push_back(point3d *p)

void push_back(const Pointcloud &other): Add points from other Pointcloud.

void writeVrml(std::string filename): Export the Pointcloud to a VRML file.

void transform(pose6d transform): Apply transform to each point.

void rotate(double roll, double pitch, double yaw): Rotate each point in pointcloud.

void transformAbsolute(pose6d transform): Apply transform to each point, undo previous transforms.

void calcBBX(point3d &lowerBound, point3d &upperBound) const: Calculate bounding box of Pointcloud.

void crop(point3d lowerBound, point3d upperBound): Crop Pointcloud to given bounding box.

void minDist(double thres)

void subSampleRandom(unsigned int num_samples, Pointcloud &sample_cloud)

inline iterator begin()

inline iterator end()

inline const_iterator begin() const

inline const_iterator end() const

inline point3d back()

point3d getPoint(unsigned int i) const: Returns a copy of the ith point in point cloud. Use operator[] for direct access to point reference.

inline const point3d &operator[](size_t i) const

inline point3d &operator[](size_t 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