/usr/include/octomap/Pointcloud.h is in liboctomap-dev 1.8.1+dfsg-1.
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* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
* http://octomap.github.com/
*
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
* All rights reserved.
* License: New BSD
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the University of Freiburg nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef OCTOMAP_POINTCLOUD_H
#define OCTOMAP_POINTCLOUD_H
#include <vector>
#include <list>
#include <octomap/octomap_types.h>
namespace octomap {
/**
* A collection of 3D coordinates (point3d), which are regarded as endpoints of a
* 3D laser scan.
*/
class Pointcloud {
public:
Pointcloud();
~Pointcloud();
Pointcloud(const Pointcloud& other);
Pointcloud(Pointcloud* other);
size_t size() const { return points.size(); }
void clear();
inline void reserve(size_t size) {points.reserve(size); }
inline void push_back(float x, float y, float z) {
points.push_back(point3d(x,y,z));
}
inline void push_back(const point3d& p) {
points.push_back(p);
}
inline void push_back(point3d* p) {
points.push_back(*p);
}
/// Add points from other Pointcloud
void push_back(const Pointcloud& other);
/// Export the Pointcloud to a VRML file
void writeVrml(std::string filename);
/// Apply transform to each point
void transform(pose6d transform);
/// Rotate each point in pointcloud
void rotate(double roll, double pitch, double yaw);
/// Apply transform to each point, undo previous transforms
void transformAbsolute(pose6d transform);
/// Calculate bounding box of Pointcloud
void calcBBX(point3d& lowerBound, point3d& upperBound) const;
/// Crop Pointcloud to given bounding box
void crop(point3d lowerBound, point3d upperBound);
// removes any points closer than [thres] to (0,0,0)
void minDist(double thres);
void subSampleRandom(unsigned int num_samples, Pointcloud& sample_cloud);
// iterators ------------------
typedef point3d_collection::iterator iterator;
typedef point3d_collection::const_iterator const_iterator;
iterator begin() { return points.begin(); }
iterator end() { return points.end(); }
const_iterator begin() const { return points.begin(); }
const_iterator end() const { return points.end(); }
point3d back() { return points.back(); }
/// Returns a copy of the ith point in point cloud.
/// Use operator[] for direct access to point reference.
point3d getPoint(unsigned int i) const; // may return NULL
inline const point3d& operator[] (size_t i) const { return points[i]; }
inline point3d& operator[] (size_t i) { return points[i]; }
// I/O methods
std::istream& readBinary(std::istream &s);
std::istream& read(std::istream &s);
std::ostream& writeBinary(std::ostream &s) const;
protected:
pose6d current_inv_transform;
point3d_collection points;
};
}
#endif
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