octomap::Pointcloud Class Reference

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

Collaboration diagram for octomap::Pointcloud:

Public Types
typedef point3d_collection::const_iterator	const_iterator
typedef point3d_collection::iterator	iterator
Public Member Functions
point3d	back ()
const_iterator	begin () const
iterator	begin ()
void	calcBBX (point3d &lowerBound, point3d &upperBound) const
	Calculate bounding box of Pointcloud.
void	clear ()
void	crop (point3d lowerBound, point3d upperBound)
	Crop Pointcloud to given bounding box.
iterator	end ()
const_iterator	end () const
point3d	getPoint (unsigned int i)
void	minDist (double thres)
	Pointcloud (Pointcloud *other)
	Pointcloud ()
	Pointcloud (const 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.
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.
size_t	size () const
void	subSampleRandom (unsigned int num_samples, Pointcloud &sample_cloud)
void	transform (pose6d transform)
	Apply transform to each point.
void	transformAbsolute (pose6d transform)
	Apply transform to each point, undo previous transforms.
std::ostream &	writeBinary (std::ostream &s) const
void	writeVrml (std::string filename)
	Export the Pointcloud to a VRML file.
	~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.

---

Member Typedef Documentation

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

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

---

Constructor & Destructor Documentation

octomap::Pointcloud::Pointcloud

(

)

octomap::Pointcloud::~Pointcloud

(

)

References clear().

octomap::Pointcloud::Pointcloud

(

const Pointcloud &

other

)

References begin(), end(), and points.

octomap::Pointcloud::Pointcloud

(

Pointcloud *

other

)

References begin(), end(), and points.

---

Member Function Documentation

point3d octomap::Pointcloud::back

(

)

[inline]

References points.

iterator octomap::Pointcloud::begin

(

)

[inline]

References points.

Referenced by calcBBX(), octomap::OccupancyOcTreeBase< NODE >::computeUpdate(), crop(), octomap::OccupancyOcTreeBase< NODE >::insertScanNaive(), minDist(), Pointcloud(), push_back(), subSampleRandom(), and writeBinary().

const_iterator octomap::Pointcloud::begin

(

)

const [inline]

References points.

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

Calculate bounding box of Pointcloud.

References begin(), and end().

void octomap::Pointcloud::clear

(

)

References points.

Referenced by crop(), minDist(), and ~Pointcloud().

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

Crop Pointcloud to given bounding box.

References begin(), clear(), end(), and push_back().

Referenced by octomap::ScanGraph::crop().

iterator octomap::Pointcloud::end

(

)

[inline]

References points.

Referenced by calcBBX(), octomap::OccupancyOcTreeBase< NODE >::computeUpdate(), crop(), octomap::OccupancyOcTreeBase< NODE >::insertScanNaive(), minDist(), Pointcloud(), push_back(), subSampleRandom(), and writeBinary().

const_iterator octomap::Pointcloud::end

(

)

const [inline]

References points.

point3d octomap::Pointcloud::getPoint

(

unsigned int

i

)

References OCTOMAP_WARNING, and points.

void octomap::Pointcloud::minDist

(

double

thres

)

References begin(), clear(), end(), and push_back().

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

References points.

Referenced by crop(), octomap::MapNode< TREETYPE >::generatePointcloud(), main(), minDist(), read(), readBinary(), octomap::ScanGraph::readPlainASCII(), subSampleRandom(), and octomap::MapCollection< MAPNODE >::writePointcloud().

void octomap::Pointcloud::push_back

(

const point3d &

p

)

[inline]

References points.

void octomap::Pointcloud::push_back

(

point3d *

p

)

[inline]

References points.

void octomap::Pointcloud::push_back

(

const Pointcloud &

other

)

Add points from other Pointcloud.

References begin(), end(), and points.

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

(

std::istream &

s

)

References push_back().

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

(

std::istream &

s

)

References OCTOMAP_DEBUG, OCTOMAP_ERROR, points, push_back(), and octomath::Vector3::readBinary().

Referenced by octomap::ScanNode::readBinary().

void octomap::Pointcloud::reserve

(

size_t

size

)

[inline]

References points.

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

Rotate each point in pointcloud.

References points.

size_t octomap::Pointcloud::size

(

)

const [inline]

References points.

Referenced by octomap::OccupancyOcTreeBase< NODE >::insertScanNaive(), octomap::ScanGraph::readPlainASCII(), subSampleRandom(), and writeBinary().

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

References begin(), end(), push_back(), and size().

void octomap::Pointcloud::transform

(

pose6d

transform

)

Apply transform to each point.

References current_inv_transform, octomath::Pose6D::inv(), points, and octomath::Pose6D::transform().

Referenced by octomap::ScanGraph::crop(), octomap::OccupancyOcTreeBase< NODE >::insertScan(), and transformAbsolute().

void octomap::Pointcloud::transformAbsolute

(

pose6d

transform

)

Apply transform to each point, undo previous transforms.

References current_inv_transform, octomath::Pose6D::inv(), points, octomath::Pose6D::transform(), and transform().

Referenced by octomap::ScanGraph::crop().

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

(

std::ostream &

s

)

const

References begin(), end(), OCTOMAP_DEBUG, and size().

Referenced by octomap::ScanNode::writeBinary().

void octomap::Pointcloud::writeVrml

(

std::string

filename

)

Export the Pointcloud to a VRML file.

References OCTOMAP_DEBUG_STR, and points.

Referenced by octomap::MapCollection< MAPNODE >::writePointcloud().

---

Field Documentation

pose6d octomap::Pointcloud::current_inv_transform [protected]

Referenced by transform(), and transformAbsolute().

point3d_collection octomap::Pointcloud::points [protected]

Referenced by back(), begin(), clear(), end(), getPoint(), Pointcloud(), push_back(), readBinary(), reserve(), rotate(), size(), transform(), transformAbsolute(), and writeVrml().

---

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

• include/octomap/Pointcloud.h
• src/Pointcloud.cpp