2026-08-06 22:56:24 +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: corelib/include/rtabmap/core/LaserScan.h Source File</ 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 >
< 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 >
< 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" />
< link href = "doxygen-awesome.css" rel = "stylesheet" type = "text/css" />
< link href = "custom.css" rel = "stylesheet" type = "text/css" />
< 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 >
< script type = "text/javascript" src = "doxygen-awesome-darkmode-toggle.js" ></ script >
< script type = "text/javascript" > DoxygenAwesomeDarkModeToggle . init ();</ script >
</ 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" >
2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
2026-08-06 22:56:24 +00:00
</ div >
< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
</ 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 >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function () { init_codefold ( 0 ); });
/* @license-end */
</ script >
</ 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 ( 'LaserScan_8h_source.html' , '' ); initResizable (); });
/* @license-end */
</ script >
< div id = "doc-content" >
<!-- 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 = "headertitle" >< div class = "title" > LaserScan.h</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span > </ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span > </ div >
< div class = "foldopen" id = "foldopen00045" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html" > 45</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > {</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "foldopen" id = "foldopen00055" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > 55</ a ></ span > < span class = "keyword" > enum</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > {</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d" > 56</ a ></ span > kUnknown=0, </ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1" > 57</ a ></ span > kXY=1, </ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00" > 58</ a ></ span > kXYI=2, </ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5" > 59</ a ></ span > kXYNormal=3, </ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97" > 60</ a ></ span > kXYINormal=4, </ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267" > 61</ a ></ span > kXYZ=5, </ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42" > 62</ a ></ span > kXYZI=6, </ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829" > 63</ a ></ span > kXYZRGB=7, </ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc" > 64</ a ></ span > kXYZNormal=8, </ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8" > 65</ a ></ span > kXYZINormal=9, </ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07" > 66</ a ></ span > kXYZRGBNormal=10, </ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c" > 67</ a ></ span > kXYZIT=11, </ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > kXYZIRT=12 </ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7" > 69</ a ></ span > };</ div >
</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > </ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < span class = "keyword" > static</ span > std::string formatName(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > int</ span > channels(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScan2d(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScanHasNormals(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScanHasRGB(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScanHasIntensity(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScanHasTime(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isScanHasRing(< span class = "keyword" > const</ span > Format & format);</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > float</ span > packRGB(< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > r, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > g, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > b);</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > unpackRGB(< span class = "keywordtype" > float</ span > rgb, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > & r, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > & g, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > & b);</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > </ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#aafea81eab365a2fc2b4f90d8deceafc9" > 87</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#aafea81eab365a2fc2b4f90d8deceafc9" > backwardCompatibility</ a > (</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < span class = "keyword" > const</ span > cv::Mat & oldScanFormat,</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > < span class = "keywordtype" > int</ span > maxPoints = 0,</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > < span class = "keywordtype" > int</ span > maxRange = 0,</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > </ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a61e1fefc6554dd6fc1da3c2e5aeefd0c" > 96</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#a61e1fefc6554dd6fc1da3c2e5aeefd0c" > backwardCompatibility</ a > (</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "keyword" > const</ span > cv::Mat & oldScanFormat,</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < span class = "keywordtype" > float</ span > minRange,</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "keywordtype" > float</ span > angleMin,</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keywordtype" > float</ span > angleMax,</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > < span class = "keywordtype" > float</ span > angleInc,</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > </ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > </ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > ();</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data,</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keywordtype" > int</ span > maxPoints,</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > </ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302" > 117</ a ></ span > RTABMAP_DEPRECATED < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302" > LaserScan</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data,</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > < span class = "keywordtype" > int</ span > maxPoints,</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format,</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > (< span class = "keyword" > const</ span > cv::Mat & data,</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < span class = "keywordtype" > int</ span > maxPoints,</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format,</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > </ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016" > 129</ a ></ span > RTABMAP_DEPRECATED < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016" > LaserScan</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data,</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format,</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordtype" > float</ span > minRange,</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < span class = "keywordtype" > float</ span > angleMin,</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "keywordtype" > float</ span > angleMax,</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > < span class = "keywordtype" > float</ span > angleIncrement,</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & data,</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > < span class = "keywordtype" > float</ span > minRange,</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > < span class = "keywordtype" > float</ span > angleMin,</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < span class = "keywordtype" > float</ span > angleMax,</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keywordtype" > float</ span > angleIncrement,</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > (< span class = "keyword" > const</ span > cv::Mat & data,</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format,</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < span class = "keywordtype" > float</ span > minRange,</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keywordtype" > float</ span > angleMin,</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > < span class = "keywordtype" > float</ span > angleMax,</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > < span class = "keywordtype" > float</ span > angleIncrement,</ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > </ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < span class = "keyword" > const</ span > cv::Mat & data()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_;}</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > Format format()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > format_;}</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > std::string formatName()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > formatName(format_);}</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "keywordtype" > int</ span > channels()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_.channels();}</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keywordtype" > int</ span > maxPoints()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > maxPoints_;}</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < span class = "keywordtype" > float</ span > rangeMin()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > rangeMin_;}</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > < span class = "keywordtype" > float</ span > rangeMax()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > rangeMax_;}</ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > < span class = "keywordtype" > float</ span > angleMin()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > angleMin_;}</ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > < span class = "keywordtype" > float</ span > angleMax()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > angleMax_;}</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > < span class = "keywordtype" > float</ span > angleIncrement()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > angleIncrement_;}</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > < span class = "keywordtype" > void</ span > setLocalTransform(< span class = "keyword" > const</ span > Transform & t) {localTransform_ = t;}</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > Transform localTransform()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > localTransform_;}</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > </ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > < span class = "keywordtype" > bool</ span > empty()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_.empty();}</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > < span class = "keywordtype" > bool</ span > isEmpty()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_.empty();}</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > < span class = "keywordtype" > int</ span > size()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "keyword" > static_cast< </ span >< span class = "keywordtype" > int</ span >< span class = "keyword" > > </ span > (data_.total());}</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > < span class = "keywordtype" > int</ span > dataType()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_.type();}</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span > < span class = "keywordtype" > bool</ span > is2d()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScan2d(format_);}</ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > < span class = "keywordtype" > bool</ span > hasNormals()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScanHasNormals(format_);}</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < span class = "keywordtype" > bool</ span > hasRGB()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScanHasRGB(format_);}</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "keywordtype" > bool</ span > hasIntensity()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScanHasIntensity(format_);}</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keywordtype" > bool</ span > hasTime()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScanHasTime(format_);}</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keywordtype" > bool</ span > hasRing()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > isScanHasRing(format_);}</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9" > 183</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9" > isCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > !data_.empty() && data_.type()==CV_8UC1;}</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > < span class = "keywordtype" > bool</ span > isOrganized()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > data_.rows > 1;}</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > LaserScan clone() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > LaserScan densify() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > </ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > < span class = "keywordtype" > int</ span > getIntensityOffset()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > hasIntensity()?(is2d()?2:3):-1;}</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > < span class = "keywordtype" > int</ span > getRGBOffset()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > hasRGB()?(is2d()?2:3):-1;}</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keywordtype" > int</ span > getNormalsOffset()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keywordtype" > int</ span > getRingOffset()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > format_==kXYZIRT?4:-1;}</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > < span class = "keywordtype" > int</ span > getTimeOffset()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > </ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d" > 204</ a ></ span > < span class = "keywordtype" > float</ span > & < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d" > field</ a > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > pointIndex, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > channelOffset);</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > </ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45" > 209</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45" > clear</ a > () {data_ = cv::Mat();}</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > </ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04" > 214</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04" > operator+=</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & );</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475" > 218</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > < a class = "code hl_function" href = "classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475" > operator+</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & );</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > </ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keywordtype" > void</ span > init(< span class = "keyword" > const</ span > cv::Mat & data,</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format,</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keywordtype" > float</ span > minRange,</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "keywordtype" > float</ span > maxRange,</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > < span class = "keywordtype" > float</ span > angleMin,</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keywordtype" > float</ span > angleMax,</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > < span class = "keywordtype" > float</ span > angleIncrement,</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > < span class = "keywordtype" > int</ span > maxPoints,</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > </ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > cv::Mat data_; </ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > Format</ a > format_; </ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > < span class = "keywordtype" > int</ span > maxPoints_; </ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < span class = "keywordtype" > float</ span > rangeMin_; </ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > < span class = "keywordtype" > float</ span > rangeMax_; </ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > < span class = "keywordtype" > float</ span > angleMin_; </ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > < span class = "keywordtype" > float</ span > angleMax_; </ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordtype" > float</ span > angleIncrement_; </ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > localTransform_; </ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > </ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > </ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_a0cb5ba7c590cea1b36c81804acdbf302" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302" > rtabmap::LaserScan::LaserScan</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED LaserScan(const LaserScan & data, int maxPoints, float maxRange, Format format, const Transform & localTransform=Transform::getIdentity())</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_a25e8e9681240f4a21960977f5c12bcd9" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9" > rtabmap::LaserScan::isCompressed</ a ></ div >< div class = "ttdeci" > bool isCompressed() const</ div >< div class = "ttdoc" > True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00183" > LaserScan.h:183</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_a38f5602d1411c204d54be9b3c7320007" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > rtabmap::LaserScan::Format</ a ></ div >< div class = "ttdeci" > Format</ div >< div class = "ttdoc" > Enumeration of possible formats for laser scan data.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00055" > LaserScan.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_a61d7ecfee5d444fdde06efb0f13ed68d" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d" > rtabmap::LaserScan::field</ a ></ div >< div class = "ttdeci" > float & field(unsigned int pointIndex, unsigned int channelOffset)</ div >< div class = "ttdoc" > Access a specific field value of a point.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_a61e1fefc6554dd6fc1da3c2e5aeefd0c" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#a61e1fefc6554dd6fc1da3c2e5aeefd0c" > rtabmap::LaserScan::backwardCompatibility</ a ></ div >< div class = "ttdeci" > static LaserScan backwardCompatibility(const cv::Mat & oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform & localTransform=Transform::getIdentity())</ div >< div class = "ttdoc" > Converts legacy scan format with additional metadata to a LaserScan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_aaf554921f866f90c48a6174d5f97a016" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016" > rtabmap::LaserScan::LaserScan</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED LaserScan(const LaserScan & data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform & localTransform=Transform::getIdentity())</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_aafea81eab365a2fc2b4f90d8deceafc9" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#aafea81eab365a2fc2b4f90d8deceafc9" > rtabmap::LaserScan::backwardCompatibility</ a ></ div >< div class = "ttdeci" > static LaserScan backwardCompatibility(const cv::Mat & oldScanFormat, int maxPoints=0, int maxRange=0, const Transform & localTransform=Transform::getIdentity())</ div >< div class = "ttdoc" > Converts legacy scan format to a LaserScan object.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_ab952e27e94b2fa942efe98ea651f4475" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475" > rtabmap::LaserScan::operator+</ a ></ div >< div class = "ttdeci" > LaserScan operator+(const LaserScan & )</ div >< div class = "ttdoc" > Concatenate scan's data (localTransform is ignored).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_af0ad1e84f0be48a84b772385249adb45" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45" > rtabmap::LaserScan::clear</ a ></ div >< div class = "ttdeci" > void clear()</ div >< div class = "ttdoc" > Clear the scan data.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00209" > LaserScan.h:209</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html_af9f9a32f97cfbac321fc2509f0d1bd04" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04" > rtabmap::LaserScan::operator+=</ a ></ div >< div class = "ttdeci" > LaserScan & operator+=(const LaserScan & )</ div >< div class = "ttdoc" > Concatenate scan's data (localTransform is ignored).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
</ div > <!-- fragment --> </ div > <!-- contents -->
</ div > <!-- doc-content -->
<!-- start footer part -->
< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "dir_04d49acea3c42cab2afcd35cb2f2a48f.html" > corelib</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_e996b11fd4b3a747423759b16a8ba4a6.html" > include</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_884419f21456e80aa47bc1d0c2ab0140.html" > core</ a ></ li >< li class = "navelem" >< b > LaserScan.h</ b ></ 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 >
</ body >
</ html >
