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