#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.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation