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 ()

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

void	minDist (double thres)

point3d &	operator[] (size_t i)

const point3d &	operator[] (size_t i) const

	Pointcloud ()

	Pointcloud (const Pointcloud &other)

	Pointcloud (Pointcloud *other)

void	push_back (const point3d &p)

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

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

void	push_back (point3d *p)

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.

Member Typedef Documentation

◆ const_iterator

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

◆ iterator

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

Constructor & Destructor Documentation

◆ Pointcloud() [1/3]

octomap::Pointcloud::Pointcloud ( )

◆ ~Pointcloud()

octomap::Pointcloud::~Pointcloud ( )

References clear().

◆ Pointcloud() [2/3]

octomap::Pointcloud::Pointcloud ( const Pointcloud & other )

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

◆ Pointcloud() [3/3]

octomap::Pointcloud::Pointcloud ( Pointcloud * other )

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

Member Function Documentation

◆ back()

point3d octomap::Pointcloud::back ( )

inline

References points.

◆ begin() [1/2]

iterator octomap::Pointcloud::begin ( )

inline

References points.

Referenced by calcBBX(), crop(), minDist(), Pointcloud(), push_back(), subSampleRandom(), and writeBinary().

◆ begin() [2/2]

const_iterator octomap::Pointcloud::begin ( ) const

inline

References points.

◆ calcBBX()

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

Calculate bounding box of Pointcloud.

References begin(), and end().

◆ clear()

void octomap::Pointcloud::clear ( )

References points.

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

◆ crop()

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().

◆ end() [1/2]

iterator octomap::Pointcloud::end ( )

inline

References points.

Referenced by calcBBX(), crop(), minDist(), Pointcloud(), push_back(), subSampleRandom(), and writeBinary().

◆ end() [2/2]

const_iterator octomap::Pointcloud::end ( ) const

inline

References points.

◆ getPoint()

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.

References OCTOMAP_WARNING, and points.

◆ minDist()

void octomap::Pointcloud::minDist ( double thres )

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

◆ operator[]() [1/2]

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

inline

References points.

◆ operator[]() [2/2]

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

inline

References points.

◆ push_back() [1/4]

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

inline

References points.

◆ push_back() [2/4]

void octomap::Pointcloud::push_back ( const Pointcloud & other )

Add points from other Pointcloud.

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

◆ push_back() [3/4]

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

inline

References points.

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

◆ push_back() [4/4]

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

inline

References points.

◆ read()

std::istream & octomap::Pointcloud::read ( std::istream & s )

References push_back().

◆ readBinary()

std::istream & octomap::Pointcloud::readBinary ( std::istream & s )

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

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

◆ reserve()

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

inline

References points, and size().

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::computeDiscreteUpdate().

◆ rotate()

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

Rotate each point in pointcloud.

References points.

◆ size()

size_t octomap::Pointcloud::size ( ) const

inline

References points.

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::computeDiscreteUpdate(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::computeUpdate(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::insertPointCloudRays(), main(), readBinary(), octomap::ScanGraph::readPlainASCII(), reserve(), subSampleRandom(), and writeBinary().

◆ subSampleRandom()

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

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

◆ transform()

void octomap::Pointcloud::transform ( pose6d transform )

Apply transform to each point.

References current_inv_transform, and points.

Referenced by octomap::ScanGraph::crop(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::insertPointCloud(), main(), and transformAbsolute().

◆ transformAbsolute()

void octomap::Pointcloud::transformAbsolute ( pose6d transform )

Apply transform to each point, undo previous transforms.

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

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

◆ writeBinary()

std::ostream & octomap::Pointcloud::writeBinary ( std::ostream & s ) const

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

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

◆ writeVrml()

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

◆ current_inv_transform

pose6d octomap::Pointcloud::current_inv_transform

protected

Referenced by transform(), and transformAbsolute().

◆ points

point3d_collection octomap::Pointcloud::points

protected

Referenced by back(), begin(), clear(), end(), getPoint(), operator[](), 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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ Pointcloud() [1/3]

◆ ~Pointcloud()

◆ Pointcloud() [2/3]

◆ Pointcloud() [3/3]

Member Function Documentation

◆ back()

◆ begin() [1/2]

◆ begin() [2/2]

◆ calcBBX()

◆ clear()

◆ crop()

◆ end() [1/2]

◆ end() [2/2]

◆ getPoint()

◆ minDist()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back() [1/4]

◆ push_back() [2/4]

◆ push_back() [3/4]

◆ push_back() [4/4]

◆ read()

◆ readBinary()

◆ reserve()

◆ rotate()

◆ size()

◆ subSampleRandom()

◆ transform()

◆ transformAbsolute()

◆ writeBinary()

◆ writeVrml()

Field Documentation

◆ current_inv_transform

◆ points