octomap::Pointcloud Class Reference

#include <Pointcloud.h>

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

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

Protected Attributes
pose6d	current_inv_transform
point3d_collection	points

Detailed Description

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

Definition at line 47 of file Pointcloud.h.

Member Typedef Documentation

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

Definition at line 99 of file Pointcloud.h.

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

Definition at line 98 of file Pointcloud.h.

Constructor & Destructor Documentation

octomap::Pointcloud::Pointcloud

(

)

Definition at line 52 of file Pointcloud.cpp.

octomap::Pointcloud::~Pointcloud

(

)

Definition at line 56 of file Pointcloud.cpp.

octomap::Pointcloud::Pointcloud

(

const Pointcloud &

other

)

Definition at line 69 of file Pointcloud.cpp.

octomap::Pointcloud::Pointcloud

(

Pointcloud *

other

)

Definition at line 75 of file Pointcloud.cpp.

Member Function Documentation

point3d octomap::Pointcloud::back ( )

inline

Definition at line 104 of file Pointcloud.h.

iterator octomap::Pointcloud::begin ( )

inline

Definition at line 100 of file Pointcloud.h.

const_iterator octomap::Pointcloud::begin ( ) const

inline

Definition at line 102 of file Pointcloud.h.

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

Calculate bounding box of Pointcloud.

Definition at line 129 of file Pointcloud.cpp.

void octomap::Pointcloud::clear

(

)

Definition at line 60 of file Pointcloud.cpp.

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

Crop Pointcloud to given bounding box.

Definition at line 157 of file Pointcloud.cpp.

iterator octomap::Pointcloud::end ( )

inline

Definition at line 101 of file Pointcloud.h.

const_iterator octomap::Pointcloud::end ( ) const

inline

Definition at line 103 of file Pointcloud.h.

point3d octomap::Pointcloud::getPoint

(

unsigned int

i

)

const

Returns a copy of the ith point in point cloud. Use operator[] for direct access to point reference.

Definition at line 88 of file Pointcloud.cpp.

void octomap::Pointcloud::minDist

(

double

thres

)

Definition at line 189 of file Pointcloud.cpp.

const point3d& octomap::Pointcloud::operator[] ( size_t  i ) const

inline

Definition at line 109 of file Pointcloud.h.

point3d& octomap::Pointcloud::operator[] ( size_t  i )

inline

Definition at line 110 of file Pointcloud.h.

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

inline

Definition at line 61 of file Pointcloud.h.

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

inline

Definition at line 64 of file Pointcloud.h.

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

inline

Definition at line 67 of file Pointcloud.h.

void octomap::Pointcloud::push_back

(

const Pointcloud &

other

)

Add points from other Pointcloud.

Definition at line 82 of file Pointcloud.cpp.

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

(

std::istream &

s

)

Definition at line 269 of file Pointcloud.cpp.

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

(

std::istream &

s

)

Definition at line 285 of file Pointcloud.cpp.

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

inline

Definition at line 59 of file Pointcloud.h.

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

Rotate each point in pointcloud.

Definition at line 121 of file Pointcloud.cpp.

size_t octomap::Pointcloud::size ( ) const

inline

Definition at line 57 of file Pointcloud.h.

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

Definition at line 205 of file Pointcloud.cpp.

void octomap::Pointcloud::transform

(

pose6d

transform

)

Apply transform to each point.

Definition at line 97 of file Pointcloud.cpp.

void octomap::Pointcloud::transformAbsolute

(

pose6d

transform

)

Apply transform to each point, undo previous transforms.

Definition at line 108 of file Pointcloud.cpp.

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

(

std::ostream &

s

)

const

Definition at line 311 of file Pointcloud.cpp.

void octomap::Pointcloud::writeVrml

(

std::string

filename

)

Export the Pointcloud to a VRML file.

Definition at line 222 of file Pointcloud.cpp.

Member Data Documentation

pose6d octomap::Pointcloud::current_inv_transform

protected

Definition at line 119 of file Pointcloud.h.

point3d_collection octomap::Pointcloud::points

protected

Definition at line 120 of file Pointcloud.h.

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The documentation for this class was generated from the following files:

• Pointcloud.h
• Pointcloud.cpp