Pointcloud.h
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33 
34 #ifndef OCTOMAP_POINTCLOUD_H
35 #define OCTOMAP_POINTCLOUD_H
36 
37 #include <vector>
38 #include <list>
39 #include <octomap/octomap_types.h>
40 
41 namespace octomap {
42 
47  class Pointcloud {
48 
49  public:
50 
51  Pointcloud();
52  ~Pointcloud();
53 
54  Pointcloud(const Pointcloud& other);
55  Pointcloud(Pointcloud* other);
56 
57  size_t size() const { return points.size(); }
58  void clear();
59  inline void reserve(size_t size) {points.reserve(size); }
60 
61  inline void push_back(float x, float y, float z) {
62  points.push_back(point3d(x,y,z));
63  }
64  inline void push_back(const point3d& p) {
65  points.push_back(p);
66  }
67  inline void push_back(point3d* p) {
68  points.push_back(*p);
69  }
70 
72  void push_back(const Pointcloud& other);
73 
75  void writeVrml(std::string filename);
76 
79 
81  void rotate(double roll, double pitch, double yaw);
82 
84  void transformAbsolute(pose6d transform);
85 
87  void calcBBX(point3d& lowerBound, point3d& upperBound) const;
89  void crop(point3d lowerBound, point3d upperBound);
90 
91  // removes any points closer than [thres] to (0,0,0)
92  void minDist(double thres);
93 
94  void subSampleRandom(unsigned int num_samples, Pointcloud& sample_cloud);
95 
96  // iterators ------------------
97 
98  typedef point3d_collection::iterator iterator;
99  typedef point3d_collection::const_iterator const_iterator;
100  iterator begin() { return points.begin(); }
101  iterator end() { return points.end(); }
102  const_iterator begin() const { return points.begin(); }
103  const_iterator end() const { return points.end(); }
104  point3d back() { return points.back(); }
107  point3d getPoint(unsigned int i) const; // may return NULL
108 
109  inline const point3d& operator[] (size_t i) const { return points[i]; }
110  inline point3d& operator[] (size_t i) { return points[i]; }
111 
112  // I/O methods
113 
114  std::istream& readBinary(std::istream &s);
115  std::istream& read(std::istream &s);
116  std::ostream& writeBinary(std::ostream &s) const;
117 
118  protected:
121  };
122 
123 }
124 
125 
126 #endif
const point3d & operator[](size_t i) const
Definition: Pointcloud.h:109
void minDist(double thres)
Definition: Pointcloud.cpp:191
void writeVrml(std::string filename)
Export the Pointcloud to a VRML file.
Definition: Pointcloud.cpp:224
point3d_collection::iterator iterator
Definition: Pointcloud.h:98
pose6d current_inv_transform
Definition: Pointcloud.h:119
void transform(pose6d transform)
Apply transform to each point.
Definition: Pointcloud.cpp:99
void push_back(float x, float y, float z)
Definition: Pointcloud.h:61
std::ostream & writeBinary(std::ostream &s) const
Definition: Pointcloud.cpp:315
size_t size() const
Definition: Pointcloud.h:57
void subSampleRandom(unsigned int num_samples, Pointcloud &sample_cloud)
Definition: Pointcloud.cpp:207
iterator begin()
Definition: Pointcloud.h:100
std::vector< octomath::Vector3 > point3d_collection
Definition: octomap_types.h:53
point3d_collection points
Definition: Pointcloud.h:120
std::istream & readBinary(std::istream &s)
Definition: Pointcloud.cpp:287
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
void calcBBX(point3d &lowerBound, point3d &upperBound) const
Calculate bounding box of Pointcloud.
Definition: Pointcloud.cpp:131
std::istream & read(std::istream &s)
Definition: Pointcloud.cpp:271
This class represents a three-dimensional vector.
Definition: Vector3.h:50
void reserve(size_t size)
Definition: Pointcloud.h:59
const_iterator end() const
Definition: Pointcloud.h:103
void transformAbsolute(pose6d transform)
Apply transform to each point, undo previous transforms.
Definition: Pointcloud.cpp:110
octomath::Vector3 point3d
Use Vector3 (float precision) as a point3d in octomap.
Definition: octomap_types.h:49
point3d getPoint(unsigned int i) const
Definition: Pointcloud.cpp:90
void rotate(double roll, double pitch, double yaw)
Rotate each point in pointcloud.
Definition: Pointcloud.cpp:123
void crop(point3d lowerBound, point3d upperBound)
Crop Pointcloud to given bounding box.
Definition: Pointcloud.cpp:159
const_iterator begin() const
Definition: Pointcloud.h:102
point3d_collection::const_iterator const_iterator
Definition: Pointcloud.h:99
void push_back(const point3d &p)
Definition: Pointcloud.h:64
void push_back(point3d *p)
Definition: Pointcloud.h:67


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Fri Jun 7 2019 21:17:32