2026-08-02 01:36:11 +00:00
<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" lang = "en-US" >
< head >
< meta http-equiv = "Content-Type" content = "text/xhtml;charset=UTF-8" />
< meta http-equiv = "X-UA-Compatible" content = "IE=11" />
< meta name = "generator" content = "Doxygen 1.9.8" />
< meta name = "viewport" content = "width=device-width, initial-scale=1" />
< title > RTAB-Map: rtabmap::LaserScan Class Reference</ title >
< link href = "tabs.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "jquery.js" ></ script >
< script type = "text/javascript" src = "dynsections.js" ></ script >
2026-08-02 07:56:38 +00:00
< link href = "navtree.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "resize.js" ></ script >
< script type = "text/javascript" src = "navtreedata.js" ></ script >
< script type = "text/javascript" src = "navtree.js" ></ script >
2026-08-02 01:36:11 +00:00
< link href = "search/search.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "search/searchdata.js" ></ script >
< script type = "text/javascript" src = "search/search.js" ></ script >
< link href = "doxygen.css" rel = "stylesheet" type = "text/css" />
2026-08-02 17:35:14 +00:00
< link href = "doxygen-awesome.css" rel = "stylesheet" type = "text/css" />
< link href = "custom.css" rel = "stylesheet" type = "text/css" />
2026-08-02 01:36:11 +00:00
< script type = "text/javascript" > window . RTABMAP_DOC_ROOT = "" ;</ script >
< script type = "text/javascript" src = "../versions.js" ></ script >
< script type = "text/javascript" src = "version-switcher.js" ></ script >
2026-08-02 17:35:14 +00:00
< script type = "text/javascript" src = "doxygen-awesome-darkmode-toggle.js" ></ script >
< script type = "text/javascript" > DoxygenAwesomeDarkModeToggle . init ();</ script >
2026-08-02 01:36:11 +00:00
</ head >
< body >
< div id = "top" > <!-- do not remove this div, it is closed by doxygen! -->
< div id = "titlearea" >
< table cellspacing = "0" cellpadding = "0" >
< tbody >
< tr id = "projectrow" >
< td id = "projectalign" >
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.10</ span >
</ div >
2026-08-02 07:56:38 +00:00
< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
2026-08-02 01:36:11 +00:00
</ td >
</ tr >
</ tbody >
</ table >
</ div >
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox ( "searchBox" , "search/" , '.html' );
/* @license-end */
</ script >
< script type = "text/javascript" src = "menudata.js" ></ script >
< script type = "text/javascript" src = "menu.js" ></ script >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( function () {
initMenu ( '' , true , false , 'search.php' , 'Search' );
$ ( document ). ready ( function () { init_search (); });
});
/* @license-end */
</ script >
< div id = "main-nav" ></ div >
2026-08-02 07:56:38 +00:00
</ div > <!-- top -->
< div id = "side-nav" class = "ui-resizable side-nav-resizable" >
< div id = "nav-tree" >
< div id = "nav-tree-contents" >
< div id = "nav-sync" class = "sync" ></ div >
</ div >
</ div >
< div id = "splitbar" style = "-moz-user-select:none;"
class = "ui-resizable-handle" >
</ div >
</ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function (){ initNavTree ( 'classrtabmap_1_1LaserScan.html' , '' ); initResizable (); });
/* @license-end */
</ script >
< div id = "doc-content" >
2026-08-02 01:36:11 +00:00
<!-- window showing the filter options -->
< div id = "MSearchSelectWindow"
onmouseover = "return searchBox.OnSearchSelectShow()"
onmouseout = "return searchBox.OnSearchSelectHide()"
onkeydown = "return searchBox.OnSearchSelectKey(event)" >
</ div >
<!-- iframe showing the search results (closed by default) -->
< div id = "MSearchResultsWindow" >
< div id = "MSearchResults" >
< div class = "SRPage" >
< div id = "SRIndex" >
< div id = "SRResults" ></ div >
< div class = "SRStatus" id = "Loading" > Loading...</ div >
< div class = "SRStatus" id = "Searching" > Searching...</ div >
< div class = "SRStatus" id = "NoMatches" > No Matches</ div >
</ div >
</ div >
</ div >
</ div >
< div class = "header" >
< div class = "summary" >
< a href = "#pub-types" > Public Types</ a > |
< a href = "classrtabmap_1_1LaserScan-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::LaserScan Class Reference</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< p > Represents 2D or 3D laser scan data with support for multiple point data formats.
< a href = "classrtabmap_1_1LaserScan.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > > </ code ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-types" name = "pub-types" ></ a >
Public Types</ h2 ></ td ></ tr >
< tr class = "memitem:a38f5602d1411c204d54be9b3c7320007" id = "r_a38f5602d1411c204d54be9b3c7320007" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > { < br />
   < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d" > kUnknown</ a > =0
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1" > kXY</ a > =1
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00" > kXYI</ a > =2
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5" > kXYNormal</ a > =3
, < br />
   < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97" > kXYINormal</ a > =4
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267" > kXYZ</ a > =5
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42" > kXYZI</ a > =6
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829" > kXYZRGB</ a > =7
, < br />
   < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc" > kXYZNormal</ a > =8
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8" > kXYZINormal</ a > =9
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07" > kXYZRGBNormal</ a > =10
, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c" > kXYZIT</ a > =11
, < br />
   < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7" > kXYZIRT</ a > =12
< br />
}</ td ></ tr >
< tr class = "memdesc:a38f5602d1411c204d54be9b3c7320007" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Enumeration of possible formats for laser scan data. < a href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:a38f5602d1411c204d54be9b3c7320007" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Constructors</ div ></ td ></ tr >
< tr class = "memitem:a9c69f87f71d389393d4e85bd1000d339" id = "r_a9c69f87f71d389393d4e85bd1000d339" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a9c69f87f71d389393d4e85bd1000d339" name = "a9c69f87f71d389393d4e85bd1000d339" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LaserScan</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data, int maxPoints, float maxRange, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a9c69f87f71d389393d4e85bd1000d339" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0cb5ba7c590cea1b36c81804acdbf302" id = "r_a0cb5ba7c590cea1b36c81804acdbf302" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_DEPRECATED  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302" > LaserScan</ a > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data, int maxPoints, float maxRange, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a0cb5ba7c590cea1b36c81804acdbf302" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a87ee61e9a38ef32f54cd4fa7c56e4756" id = "r_a87ee61e9a38ef32f54cd4fa7c56e4756" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a87ee61e9a38ef32f54cd4fa7c56e4756" name = "a87ee61e9a38ef32f54cd4fa7c56e4756" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LaserScan</ b > (const cv::Mat & data, int maxPoints, float maxRange, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a87ee61e9a38ef32f54cd4fa7c56e4756" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aaf554921f866f90c48a6174d5f97a016" id = "r_aaf554921f866f90c48a6174d5f97a016" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_DEPRECATED  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016" > LaserScan</ a > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:aaf554921f866f90c48a6174d5f97a016" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a155c5c00854c64ee69efc586e684b782" id = "r_a155c5c00854c64ee69efc586e684b782" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a155c5c00854c64ee69efc586e684b782" name = "a155c5c00854c64ee69efc586e684b782" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LaserScan</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a155c5c00854c64ee69efc586e684b782" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5801f9d03d7e3292cce6b1a36e7b16cf" id = "r_a5801f9d03d7e3292cce6b1a36e7b16cf" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5801f9d03d7e3292cce6b1a36e7b16cf" name = "a5801f9d03d7e3292cce6b1a36e7b16cf" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LaserScan</ b > (const cv::Mat & data, < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a5801f9d03d7e3292cce6b1a36e7b16cf" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Accessors</ div ></ td ></ tr >
< tr class = "memitem:a986cac0b83b7b450f1ea2ea8da9c793e" id = "r_a986cac0b83b7b450f1ea2ea8da9c793e" >< td class = "memItemLeft" align = "right" valign = "top" > const cv::Mat &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a986cac0b83b7b450f1ea2ea8da9c793e" > data</ a > () const</ td ></ tr >
< tr class = "separator:a986cac0b83b7b450f1ea2ea8da9c793e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab252be956c843aa0fcd768fd3c2c34f1" id = "r_ab252be956c843aa0fcd768fd3c2c34f1" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ab252be956c843aa0fcd768fd3c2c34f1" > format</ a > () const</ td ></ tr >
< tr class = "separator:ab252be956c843aa0fcd768fd3c2c34f1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9fd9b77bc3360393ea2d74cfbbf0cf48" id = "r_a9fd9b77bc3360393ea2d74cfbbf0cf48" >< td class = "memItemLeft" align = "right" valign = "top" > std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a9fd9b77bc3360393ea2d74cfbbf0cf48" > formatName</ a > () const</ td ></ tr >
< tr class = "separator:a9fd9b77bc3360393ea2d74cfbbf0cf48" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7e2d95a4af0d2dd905c783398e9ef3fd" id = "r_a7e2d95a4af0d2dd905c783398e9ef3fd" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a7e2d95a4af0d2dd905c783398e9ef3fd" > channels</ a > () const</ td ></ tr >
< tr class = "separator:a7e2d95a4af0d2dd905c783398e9ef3fd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aca5e538a9528e3bc590885c8fbeca470" id = "r_aca5e538a9528e3bc590885c8fbeca470" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#aca5e538a9528e3bc590885c8fbeca470" > maxPoints</ a > () const</ td ></ tr >
< tr class = "separator:aca5e538a9528e3bc590885c8fbeca470" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a90b55280d452a293ac262a2cd7a02041" id = "r_a90b55280d452a293ac262a2cd7a02041" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a90b55280d452a293ac262a2cd7a02041" > rangeMin</ a > () const</ td ></ tr >
< tr class = "separator:a90b55280d452a293ac262a2cd7a02041" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a44743488b6d0de546e67f8759f854e5b" id = "r_a44743488b6d0de546e67f8759f854e5b" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a44743488b6d0de546e67f8759f854e5b" > rangeMax</ a > () const</ td ></ tr >
< tr class = "separator:a44743488b6d0de546e67f8759f854e5b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ad0eb4c721d651091e5b7aa0d041c3e" id = "r_a0ad0eb4c721d651091e5b7aa0d041c3e" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a0ad0eb4c721d651091e5b7aa0d041c3e" > angleMin</ a > () const</ td ></ tr >
< tr class = "separator:a0ad0eb4c721d651091e5b7aa0d041c3e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a707ea93092b792bfd7f667a44591b76d" id = "r_a707ea93092b792bfd7f667a44591b76d" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a707ea93092b792bfd7f667a44591b76d" > angleMax</ a > () const</ td ></ tr >
< tr class = "separator:a707ea93092b792bfd7f667a44591b76d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a188d95562b421c53f34aa4d68346df24" id = "r_a188d95562b421c53f34aa4d68346df24" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a188d95562b421c53f34aa4d68346df24" > angleIncrement</ a > () const</ td ></ tr >
< tr class = "separator:a188d95562b421c53f34aa4d68346df24" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0b9a2504d8388de0c2f416d459fe1937" id = "r_a0b9a2504d8388de0c2f416d459fe1937" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a0b9a2504d8388de0c2f416d459fe1937" > setLocalTransform</ a > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t)</ td ></ tr >
< tr class = "separator:a0b9a2504d8388de0c2f416d459fe1937" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a17d0228859537df016eaf201b9b5f1b0" id = "r_a17d0228859537df016eaf201b9b5f1b0" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a17d0228859537df016eaf201b9b5f1b0" > localTransform</ a > () const</ td ></ tr >
< tr class = "separator:a17d0228859537df016eaf201b9b5f1b0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Status and Format Checks</ div ></ td ></ tr >
< tr class = "memitem:a6a435960b360cad3db16436cc97304b0" id = "r_a6a435960b360cad3db16436cc97304b0" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a6a435960b360cad3db16436cc97304b0" > empty</ a > () const</ td ></ tr >
< tr class = "separator:a6a435960b360cad3db16436cc97304b0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a186b923902eeb2dc3dbc2bcdf4a15b1e" id = "r_a186b923902eeb2dc3dbc2bcdf4a15b1e" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a186b923902eeb2dc3dbc2bcdf4a15b1e" > isEmpty</ a > () const</ td ></ tr >
< tr class = "separator:a186b923902eeb2dc3dbc2bcdf4a15b1e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7732b0f68e85ad8791a8210aeeb86a9b" id = "r_a7732b0f68e85ad8791a8210aeeb86a9b" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a7732b0f68e85ad8791a8210aeeb86a9b" > size</ a > () const</ td ></ tr >
< tr class = "separator:a7732b0f68e85ad8791a8210aeeb86a9b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0f09aac89571b723d02d9fef1ee04c10" id = "r_a0f09aac89571b723d02d9fef1ee04c10" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a0f09aac89571b723d02d9fef1ee04c10" > dataType</ a > () const</ td ></ tr >
< tr class = "separator:a0f09aac89571b723d02d9fef1ee04c10" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a86234bf9a33f479d5498a88cac5433e3" id = "r_a86234bf9a33f479d5498a88cac5433e3" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a86234bf9a33f479d5498a88cac5433e3" > is2d</ a > () const</ td ></ tr >
< tr class = "separator:a86234bf9a33f479d5498a88cac5433e3" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afa003ef2ed7cbf49f4dc923aa6374229" id = "r_afa003ef2ed7cbf49f4dc923aa6374229" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#afa003ef2ed7cbf49f4dc923aa6374229" > hasNormals</ a > () const</ td ></ tr >
< tr class = "separator:afa003ef2ed7cbf49f4dc923aa6374229" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a40a61a99c0ba96e813fcd4f4b0e270f1" id = "r_a40a61a99c0ba96e813fcd4f4b0e270f1" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a40a61a99c0ba96e813fcd4f4b0e270f1" > hasRGB</ a > () const</ td ></ tr >
< tr class = "separator:a40a61a99c0ba96e813fcd4f4b0e270f1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a867ce8e2856d3af3916710247beea6d8" id = "r_a867ce8e2856d3af3916710247beea6d8" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a867ce8e2856d3af3916710247beea6d8" > hasIntensity</ a > () const</ td ></ tr >
< tr class = "separator:a867ce8e2856d3af3916710247beea6d8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac5ab594b61bcf78af2d04aa8a694c289" id = "r_ac5ab594b61bcf78af2d04aa8a694c289" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ac5ab594b61bcf78af2d04aa8a694c289" > hasTime</ a > () const</ td ></ tr >
< tr class = "separator:ac5ab594b61bcf78af2d04aa8a694c289" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab30f745e5a9813ac31c44831dc9d9764" id = "r_ab30f745e5a9813ac31c44831dc9d9764" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ab30f745e5a9813ac31c44831dc9d9764" > hasRing</ a > () const</ td ></ tr >
< tr class = "separator:ab30f745e5a9813ac31c44831dc9d9764" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a25e8e9681240f4a21960977f5c12bcd9" id = "r_a25e8e9681240f4a21960977f5c12bcd9" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9" > isCompressed</ a > () const</ td ></ tr >
2026-08-02 07:56:38 +00:00
< tr class = "memdesc:a25e8e9681240f4a21960977f5c12bcd9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if the scan is stored compressed (single-row < code > CV_8UC1</ code > blob) instead of raw points. < br /></ td ></ tr >
2026-08-02 01:36:11 +00:00
< tr class = "separator:a25e8e9681240f4a21960977f5c12bcd9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad37c0cc20ce14ac51d2c5aeba56c7a2b" id = "r_ad37c0cc20ce14ac51d2c5aeba56c7a2b" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ad37c0cc20ce14ac51d2c5aeba56c7a2b" > isOrganized</ a > () const</ td ></ tr >
< tr class = "separator:ad37c0cc20ce14ac51d2c5aeba56c7a2b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af8abe90de6b9bd003f61c82dee681359" id = "r_af8abe90de6b9bd003f61c82dee681359" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af8abe90de6b9bd003f61c82dee681359" name = "af8abe90de6b9bd003f61c82dee681359" ></ a >
< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > clone</ b > () const</ td ></ tr >
< tr class = "separator:af8abe90de6b9bd003f61c82dee681359" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3fb1121e72997f6a969b0177b207f25e" id = "r_a3fb1121e72997f6a969b0177b207f25e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a3fb1121e72997f6a969b0177b207f25e" name = "a3fb1121e72997f6a969b0177b207f25e" ></ a >
< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > densify</ b > () const</ td ></ tr >
< tr class = "separator:a3fb1121e72997f6a969b0177b207f25e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Operations</ div ></ td ></ tr >
< tr class = "memitem:a2398c1f95b842645479e1c53a62cc900" id = "r_a2398c1f95b842645479e1c53a62cc900" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a2398c1f95b842645479e1c53a62cc900" > getIntensityOffset</ a > () const</ td ></ tr >
< tr class = "separator:a2398c1f95b842645479e1c53a62cc900" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2515f2d36f97d5b15d6e08af37e53851" id = "r_a2515f2d36f97d5b15d6e08af37e53851" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a2515f2d36f97d5b15d6e08af37e53851" > getRGBOffset</ a > () const</ td ></ tr >
< tr class = "separator:a2515f2d36f97d5b15d6e08af37e53851" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a20549e8b64c36325c92f6b70c8b3245c" id = "r_a20549e8b64c36325c92f6b70c8b3245c" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a20549e8b64c36325c92f6b70c8b3245c" > getNormalsOffset</ a > () const</ td ></ tr >
< tr class = "separator:a20549e8b64c36325c92f6b70c8b3245c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac9f6834e53e7530e5bda84bd541e82c5" id = "r_ac9f6834e53e7530e5bda84bd541e82c5" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ac9f6834e53e7530e5bda84bd541e82c5" > getRingOffset</ a > () const</ td ></ tr >
< tr class = "separator:ac9f6834e53e7530e5bda84bd541e82c5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab7e641c3549c2e505f669e7a582e913c" id = "r_ab7e641c3549c2e505f669e7a582e913c" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#ab7e641c3549c2e505f669e7a582e913c" > getTimeOffset</ a > () const</ td ></ tr >
< tr class = "separator:ab7e641c3549c2e505f669e7a582e913c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a61d7ecfee5d444fdde06efb0f13ed68d" id = "r_a61d7ecfee5d444fdde06efb0f13ed68d" >< td class = "memItemLeft" align = "right" valign = "top" > float &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d" > field</ a > (unsigned int pointIndex, unsigned int channelOffset)</ td ></ tr >
< tr class = "memdesc:a61d7ecfee5d444fdde06efb0f13ed68d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Access a specific field value of a point. < br /></ td ></ tr >
< tr class = "separator:a61d7ecfee5d444fdde06efb0f13ed68d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af0ad1e84f0be48a84b772385249adb45" id = "r_af0ad1e84f0be48a84b772385249adb45" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45" > clear</ a > ()</ td ></ tr >
< tr class = "memdesc:af0ad1e84f0be48a84b772385249adb45" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Clear the scan data. < br /></ td ></ tr >
< tr class = "separator:af0ad1e84f0be48a84b772385249adb45" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af9f9a32f97cfbac321fc2509f0d1bd04" id = "r_af9f9a32f97cfbac321fc2509f0d1bd04" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af9f9a32f97cfbac321fc2509f0d1bd04" name = "af9f9a32f97cfbac321fc2509f0d1bd04" ></ a >
< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > &  </ td >< td class = "memItemRight" valign = "bottom" >< b > operator+=</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & )</ td ></ tr >
< tr class = "memdesc:af9f9a32f97cfbac321fc2509f0d1bd04" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Concatenate scan's data (localTransform is ignored). < br /></ td ></ tr >
< tr class = "separator:af9f9a32f97cfbac321fc2509f0d1bd04" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab952e27e94b2fa942efe98ea651f4475" id = "r_ab952e27e94b2fa942efe98ea651f4475" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab952e27e94b2fa942efe98ea651f4475" name = "ab952e27e94b2fa942efe98ea651f4475" ></ a >
< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > operator+</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & )</ td ></ tr >
< tr class = "memdesc:ab952e27e94b2fa942efe98ea651f4475" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Concatenate scan's data (localTransform is ignored). < br /></ td ></ tr >
< tr class = "separator:ab952e27e94b2fa942efe98ea651f4475" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Static Utility Functions</ div ></ td ></ tr >
< tr class = "memitem:a1765af30fa5ce7065aebb9382e59d833" id = "r_a1765af30fa5ce7065aebb9382e59d833" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a1765af30fa5ce7065aebb9382e59d833" name = "a1765af30fa5ce7065aebb9382e59d833" ></ a >
static std::string  </ td >< td class = "memItemRight" valign = "bottom" >< b > formatName</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:a1765af30fa5ce7065aebb9382e59d833" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa4b2d560c7b16617341719777742258b" id = "r_aa4b2d560c7b16617341719777742258b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa4b2d560c7b16617341719777742258b" name = "aa4b2d560c7b16617341719777742258b" ></ a >
static int  </ td >< td class = "memItemRight" valign = "bottom" >< b > channels</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:aa4b2d560c7b16617341719777742258b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acf259dc2f92a769acc92324189af054a" id = "r_acf259dc2f92a769acc92324189af054a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "acf259dc2f92a769acc92324189af054a" name = "acf259dc2f92a769acc92324189af054a" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScan2d</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:acf259dc2f92a769acc92324189af054a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac80458264abc2caf6af735c94e3a9010" id = "r_ac80458264abc2caf6af735c94e3a9010" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac80458264abc2caf6af735c94e3a9010" name = "ac80458264abc2caf6af735c94e3a9010" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanHasNormals</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:ac80458264abc2caf6af735c94e3a9010" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afa13124e1bc4f0462c0d2fc2c6980253" id = "r_afa13124e1bc4f0462c0d2fc2c6980253" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "afa13124e1bc4f0462c0d2fc2c6980253" name = "afa13124e1bc4f0462c0d2fc2c6980253" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanHasRGB</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:afa13124e1bc4f0462c0d2fc2c6980253" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a240be3c4b3d5fd5d58755d32d0534cac" id = "r_a240be3c4b3d5fd5d58755d32d0534cac" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a240be3c4b3d5fd5d58755d32d0534cac" name = "a240be3c4b3d5fd5d58755d32d0534cac" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanHasIntensity</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:a240be3c4b3d5fd5d58755d32d0534cac" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a102cb600cf207f2ddc5547d0f26a125e" id = "r_a102cb600cf207f2ddc5547d0f26a125e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a102cb600cf207f2ddc5547d0f26a125e" name = "a102cb600cf207f2ddc5547d0f26a125e" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanHasTime</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:a102cb600cf207f2ddc5547d0f26a125e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a52cee0f44943633961a9d37c381d5d47" id = "r_a52cee0f44943633961a9d37c381d5d47" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a52cee0f44943633961a9d37c381d5d47" name = "a52cee0f44943633961a9d37c381d5d47" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isScanHasRing</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > & format)</ td ></ tr >
< tr class = "separator:a52cee0f44943633961a9d37c381d5d47" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afe072b1711a450e22ef39d20eba57d73" id = "r_afe072b1711a450e22ef39d20eba57d73" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "afe072b1711a450e22ef39d20eba57d73" name = "afe072b1711a450e22ef39d20eba57d73" ></ a >
static float  </ td >< td class = "memItemRight" valign = "bottom" >< b > packRGB</ b > (unsigned char r, unsigned char g, unsigned char b)</ td ></ tr >
< tr class = "separator:afe072b1711a450e22ef39d20eba57d73" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a65c708a2e5f559e3590d0cc453af4f04" id = "r_a65c708a2e5f559e3590d0cc453af4f04" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a65c708a2e5f559e3590d0cc453af4f04" name = "a65c708a2e5f559e3590d0cc453af4f04" ></ a >
static void  </ td >< td class = "memItemRight" valign = "bottom" >< b > unpackRGB</ b > (float rgb, unsigned char & r, unsigned char & g, unsigned char & b)</ td ></ tr >
< tr class = "separator:a65c708a2e5f559e3590d0cc453af4f04" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aafea81eab365a2fc2b4f90d8deceafc9" id = "r_aafea81eab365a2fc2b4f90d8deceafc9" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aafea81eab365a2fc2b4f90d8deceafc9" name = "aafea81eab365a2fc2b4f90d8deceafc9" ></ a >
static < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > backwardCompatibility</ b > (const cv::Mat & oldScanFormat, int maxPoints=0, int maxRange=0, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "memdesc:aafea81eab365a2fc2b4f90d8deceafc9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts legacy scan format to a < a class = "el" href = "classrtabmap_1_1LaserScan.html" title = "Represents 2D or 3D laser scan data with support for multiple point data formats." > LaserScan</ a > object. < br /></ td ></ tr >
< tr class = "separator:aafea81eab365a2fc2b4f90d8deceafc9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a61e1fefc6554dd6fc1da3c2e5aeefd0c" id = "r_a61e1fefc6554dd6fc1da3c2e5aeefd0c" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a61e1fefc6554dd6fc1da3c2e5aeefd0c" name = "a61e1fefc6554dd6fc1da3c2e5aeefd0c" ></ a >
static < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > backwardCompatibility</ b > (const cv::Mat & oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "memdesc:a61e1fefc6554dd6fc1da3c2e5aeefd0c" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts legacy scan format with additional metadata to a < a class = "el" href = "classrtabmap_1_1LaserScan.html" title = "Represents 2D or 3D laser scan data with support for multiple point data formats." > LaserScan</ a > . < br /></ td ></ tr >
< tr class = "separator:a61e1fefc6554dd6fc1da3c2e5aeefd0c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Represents 2D or 3D laser scan data with support for multiple point data formats. </ p >
< p > The < a class = "el" href = "classrtabmap_1_1LaserScan.html" title = "Represents 2D or 3D laser scan data with support for multiple point data formats." > LaserScan</ a > class stores structured laser scan data used in SLAM, mapping, and perception. It supports various formats including point coordinates, intensity, normals, RGB colors, and timestamps. Utility methods are provided for format checking, cloning, and combining scans. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00045" > 45</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Enumeration Documentation</ h2 >
< a id = "a38f5602d1411c204d54be9b3c7320007" name = "a38f5602d1411c204d54be9b3c7320007" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a38f5602d1411c204d54be9b3c7320007" > ◆  </ a ></ span > Format</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > enum < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > rtabmap::LaserScan::Format</ a ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Enumeration of possible formats for laser scan data. </ p >
< p > These values represent different combinations of point attributes that can be stored in a laser scan. The format determines how each point in the scan is structured. </ p >
< table class = "fieldtable" >
< tr >< th colspan = "2" > Enumerator</ th ></ tr >< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d" name = "a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d" ></ a > kUnknown  </ td >< td class = "fielddoc" >< p > Unknown format. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1" name = "a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1" ></ a > kXY  </ td >< td class = "fielddoc" >< p > 2D points with X and Y coordinates. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00" name = "a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00" ></ a > kXYI  </ td >< td class = "fielddoc" >< p > 2D points with X, Y and intensity. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5" name = "a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5" ></ a > kXYNormal  </ td >< td class = "fielddoc" >< p > 2D points with X, Y and normal vectors. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97" name = "a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97" ></ a > kXYINormal  </ td >< td class = "fielddoc" >< p > 2D points with X, Y, intensity and normal vectors. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267" name = "a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267" ></ a > kXYZ  </ td >< td class = "fielddoc" >< p > 3D points with X, Y and Z coordinates. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42" name = "a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42" ></ a > kXYZI  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z and intensity. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829" name = "a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829" ></ a > kXYZRGB  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z and RGB color. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc" name = "a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc" ></ a > kXYZNormal  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z and normal vectors. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8" name = "a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8" ></ a > kXYZINormal  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z, intensity and normal vectors. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07" name = "a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07" ></ a > kXYZRGBNormal  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z, RGB color and normal vectors. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c" name = "a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c" ></ a > kXYZIT  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z, intensity and time. </ p >
</ td ></ tr >
< tr >< td class = "fieldname" >< a id = "a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7" name = "a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7" ></ a > kXYZIRT  </ td >< td class = "fielddoc" >< p > 3D points with X, Y, Z, intensity, ring and time. </ p >
</ td ></ tr >
</ table >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00055" > 55</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a0cb5ba7c590cea1b36c81804acdbf302" name = "a0cb5ba7c590cea1b36c81804acdbf302" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0cb5ba7c590cea1b36c81804acdbf302" > ◆  </ a ></ span > LaserScan() < span class = "overload" > [1/2]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_DEPRECATED rtabmap::LaserScan::LaserScan </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > &  </ td >
< td class = "paramname" >< em > data</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > maxPoints</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > maxRange</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a >   </ td >
< td class = "paramname" >< em > format</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > localTransform</ em > = < code >< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000006" > Deprecated:</ a ></ b ></ dt >< dd > Use constructor without < code > format</ code > argument. </ dd ></ dl >
</ div >
</ div >
< a id = "aaf554921f866f90c48a6174d5f97a016" name = "aaf554921f866f90c48a6174d5f97a016" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aaf554921f866f90c48a6174d5f97a016" > ◆  </ a ></ span > LaserScan() < span class = "overload" > [2/2]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_DEPRECATED rtabmap::LaserScan::LaserScan </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > &  </ td >
< td class = "paramname" >< em > data</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a >   </ td >
< td class = "paramname" >< em > format</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > minRange</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > maxRange</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > angleMin</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > angleMax</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > angleIncrement</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > localTransform</ em > = < code >< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000007" > Deprecated:</ a ></ b ></ dt >< dd > Use constructor without < code > format</ code > argument. </ dd ></ dl >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a986cac0b83b7b450f1ea2ea8da9c793e" name = "a986cac0b83b7b450f1ea2ea8da9c793e" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a986cac0b83b7b450f1ea2ea8da9c793e" > ◆  </ a ></ span > data()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > const cv::Mat & rtabmap::LaserScan::data </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00156" > 156</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "ab252be956c843aa0fcd768fd3c2c34f1" name = "ab252be956c843aa0fcd768fd3c2c34f1" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab252be956c843aa0fcd768fd3c2c34f1" > ◆  </ a ></ span > format()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" >< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > rtabmap::LaserScan::format </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00157" > 157</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a9fd9b77bc3360393ea2d74cfbbf0cf48" name = "a9fd9b77bc3360393ea2d74cfbbf0cf48" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9fd9b77bc3360393ea2d74cfbbf0cf48" > ◆  </ a ></ span > formatName()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > std::string rtabmap::LaserScan::formatName </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00158" > 158</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a7e2d95a4af0d2dd905c783398e9ef3fd" name = "a7e2d95a4af0d2dd905c783398e9ef3fd" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7e2d95a4af0d2dd905c783398e9ef3fd" > ◆  </ a ></ span > channels()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::channels </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00159" > 159</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "aca5e538a9528e3bc590885c8fbeca470" name = "aca5e538a9528e3bc590885c8fbeca470" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aca5e538a9528e3bc590885c8fbeca470" > ◆  </ a ></ span > maxPoints()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::maxPoints </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00160" > 160</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a90b55280d452a293ac262a2cd7a02041" name = "a90b55280d452a293ac262a2cd7a02041" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a90b55280d452a293ac262a2cd7a02041" > ◆  </ a ></ span > rangeMin()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > float rtabmap::LaserScan::rangeMin </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00161" > 161</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a44743488b6d0de546e67f8759f854e5b" name = "a44743488b6d0de546e67f8759f854e5b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a44743488b6d0de546e67f8759f854e5b" > ◆  </ a ></ span > rangeMax()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > float rtabmap::LaserScan::rangeMax </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00162" > 162</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a0ad0eb4c721d651091e5b7aa0d041c3e" name = "a0ad0eb4c721d651091e5b7aa0d041c3e" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0ad0eb4c721d651091e5b7aa0d041c3e" > ◆  </ a ></ span > angleMin()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > float rtabmap::LaserScan::angleMin </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00163" > 163</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a707ea93092b792bfd7f667a44591b76d" name = "a707ea93092b792bfd7f667a44591b76d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a707ea93092b792bfd7f667a44591b76d" > ◆  </ a ></ span > angleMax()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > float rtabmap::LaserScan::angleMax </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00164" > 164</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a188d95562b421c53f34aa4d68346df24" name = "a188d95562b421c53f34aa4d68346df24" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a188d95562b421c53f34aa4d68346df24" > ◆  </ a ></ span > angleIncrement()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > float rtabmap::LaserScan::angleIncrement </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00165" > 165</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a0b9a2504d8388de0c2f416d459fe1937" name = "a0b9a2504d8388de0c2f416d459fe1937" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0b9a2504d8388de0c2f416d459fe1937" > ◆  </ a ></ span > setLocalTransform()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::LaserScan::setLocalTransform </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > t</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00166" > 166</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a17d0228859537df016eaf201b9b5f1b0" name = "a17d0228859537df016eaf201b9b5f1b0" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a17d0228859537df016eaf201b9b5f1b0" > ◆  </ a ></ span > localTransform()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > rtabmap::LaserScan::localTransform </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00167" > 167</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a6a435960b360cad3db16436cc97304b0" name = "a6a435960b360cad3db16436cc97304b0" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6a435960b360cad3db16436cc97304b0" > ◆  </ a ></ span > empty()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::empty </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00172" > 172</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a186b923902eeb2dc3dbc2bcdf4a15b1e" name = "a186b923902eeb2dc3dbc2bcdf4a15b1e" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a186b923902eeb2dc3dbc2bcdf4a15b1e" > ◆  </ a ></ span > isEmpty()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::isEmpty </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00173" > 173</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a7732b0f68e85ad8791a8210aeeb86a9b" name = "a7732b0f68e85ad8791a8210aeeb86a9b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7732b0f68e85ad8791a8210aeeb86a9b" > ◆  </ a ></ span > size()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::size </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00174" > 174</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a0f09aac89571b723d02d9fef1ee04c10" name = "a0f09aac89571b723d02d9fef1ee04c10" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0f09aac89571b723d02d9fef1ee04c10" > ◆  </ a ></ span > dataType()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::dataType </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00175" > 175</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a86234bf9a33f479d5498a88cac5433e3" name = "a86234bf9a33f479d5498a88cac5433e3" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a86234bf9a33f479d5498a88cac5433e3" > ◆  </ a ></ span > is2d()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::is2d </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00176" > 176</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "afa003ef2ed7cbf49f4dc923aa6374229" name = "afa003ef2ed7cbf49f4dc923aa6374229" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#afa003ef2ed7cbf49f4dc923aa6374229" > ◆  </ a ></ span > hasNormals()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::hasNormals </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00177" > 177</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a40a61a99c0ba96e813fcd4f4b0e270f1" name = "a40a61a99c0ba96e813fcd4f4b0e270f1" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a40a61a99c0ba96e813fcd4f4b0e270f1" > ◆  </ a ></ span > hasRGB()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::hasRGB </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00178" > 178</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a867ce8e2856d3af3916710247beea6d8" name = "a867ce8e2856d3af3916710247beea6d8" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a867ce8e2856d3af3916710247beea6d8" > ◆  </ a ></ span > hasIntensity()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::hasIntensity </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00179" > 179</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "ac5ab594b61bcf78af2d04aa8a694c289" name = "ac5ab594b61bcf78af2d04aa8a694c289" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac5ab594b61bcf78af2d04aa8a694c289" > ◆  </ a ></ span > hasTime()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::hasTime </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00180" > 180</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "ab30f745e5a9813ac31c44831dc9d9764" name = "ab30f745e5a9813ac31c44831dc9d9764" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab30f745e5a9813ac31c44831dc9d9764" > ◆  </ a ></ span > hasRing()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::hasRing </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00181" > 181</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
</ div >
</ div >
< a id = "a25e8e9681240f4a21960977f5c12bcd9" name = "a25e8e9681240f4a21960977f5c12bcd9" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a25e8e9681240f4a21960977f5c12bcd9" > ◆  </ a ></ span > isCompressed()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::isCompressed </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p > True if the scan is stored compressed (single-row < code > CV_8UC1</ code > blob) instead of raw points. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00183" > 183</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "ad37c0cc20ce14ac51d2c5aeba56c7a2b" name = "ad37c0cc20ce14ac51d2c5aeba56c7a2b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad37c0cc20ce14ac51d2c5aeba56c7a2b" > ◆  </ a ></ span > isOrganized()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::LaserScan::isOrganized </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00184" > 184</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "a2398c1f95b842645479e1c53a62cc900" name = "a2398c1f95b842645479e1c53a62cc900" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2398c1f95b842645479e1c53a62cc900" > ◆  </ a ></ span > getIntensityOffset()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::getIntensityOffset </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00191" > 191</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "a2515f2d36f97d5b15d6e08af37e53851" name = "a2515f2d36f97d5b15d6e08af37e53851" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2515f2d36f97d5b15d6e08af37e53851" > ◆  </ a ></ span > getRGBOffset()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::getRGBOffset </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00192" > 192</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "a20549e8b64c36325c92f6b70c8b3245c" name = "a20549e8b64c36325c92f6b70c8b3245c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a20549e8b64c36325c92f6b70c8b3245c" > ◆  </ a ></ span > getNormalsOffset()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::getNormalsOffset </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00193" > 193</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "ac9f6834e53e7530e5bda84bd541e82c5" name = "ac9f6834e53e7530e5bda84bd541e82c5" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac9f6834e53e7530e5bda84bd541e82c5" > ◆  </ a ></ span > getRingOffset()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::getRingOffset </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00194" > 194</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "ab7e641c3549c2e505f669e7a582e913c" name = "ab7e641c3549c2e505f669e7a582e913c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab7e641c3549c2e505f669e7a582e913c" > ◆  </ a ></ span > getTimeOffset()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > int rtabmap::LaserScan::getTimeOffset </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00195" > 195</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< a id = "a61d7ecfee5d444fdde06efb0f13ed68d" name = "a61d7ecfee5d444fdde06efb0f13ed68d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a61d7ecfee5d444fdde06efb0f13ed68d" > ◆  </ a ></ span > field()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > float & rtabmap::LaserScan::field </ td >
< td > (</ td >
< td class = "paramtype" > unsigned int  </ td >
< td class = "paramname" >< em > pointIndex</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > unsigned int  </ td >
< td class = "paramname" >< em > channelOffset</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Access a specific field value of a point. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > pointIndex</ td >< td > Index of the point. </ td ></ tr >
< tr >< td class = "paramname" > channelOffset</ td >< td > Channel offset to access (e.g., 0=X, 1=Y, 2=Z if 2D, for other fields, use corresponding getter functions). </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > Reference to the field value. </ dd ></ dl >
< dl class = "section see" >< dt > See also</ dt >< dd > getIntensityOffset() getRGBOffset() getNormalsOffset() getTimeOffset() </ dd ></ dl >
</ div >
</ div >
< a id = "af0ad1e84f0be48a84b772385249adb45" name = "af0ad1e84f0be48a84b772385249adb45" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af0ad1e84f0be48a84b772385249adb45" > ◆  </ a ></ span > clear()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::LaserScan::clear </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Clear the scan data. </ p >
2026-08-02 07:56:38 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LaserScan_8h_source.html#l00209" > 209</ a > of file < a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a > .</ p >
2026-08-02 01:36:11 +00:00
</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "LaserScan_8h_source.html" > LaserScan.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
2026-08-02 07:56:38 +00:00
</ div > <!-- doc-content -->
2026-08-02 01:36:11 +00:00
<!-- start footer part -->
2026-08-02 07:56:38 +00:00
< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
</ ul >
</ div >
2026-08-02 01:36:11 +00:00
</ body >
</ html >
