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<a href="#func-members">Functions</a> </div>
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<div class="headertitle"><div class="title">PCL to 2D LaserScan</div></div>
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<p>Converts various PCL point cloud types into a unified 2D <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> format.
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<a href="#details">More...</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:gac0823dd28e488bef9499faee54ff8a4e" id="r_gac0823dd28e488bef9499faee54ff8a4e"><td class="memItemLeft" align="right" valign="top"><a id="gac0823dd28e488bef9499faee54ff8a4e" name="gac0823dd28e488bef9499faee54ff8a4e"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointXYZ > &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:gac0823dd28e488bef9499faee54ff8a4e"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointXYZ</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1">LaserScan::kXY</a> <br /></td></tr>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointXYZI > &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:ga0898d06b1639f58ed92b66f311e786aa"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointXYZI</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00">LaserScan::kXYI</a> (x, y, intensity) <br /></td></tr>
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<tr class="separator:ga0898d06b1639f58ed92b66f311e786aa"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac278e2f3f54ed49b5d3a6afa606a466b" id="r_gac278e2f3f54ed49b5d3a6afa606a466b"><td class="memItemLeft" align="right" valign="top"><a id="gac278e2f3f54ed49b5d3a6afa606a466b" name="gac278e2f3f54ed49b5d3a6afa606a466b"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointNormal > &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:gac278e2f3f54ed49b5d3a6afa606a466b"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointNormal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5">LaserScan::kXYNormal</a> (x, y, nx, ny, nz) <br /></td></tr>
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<tr class="memitem:gae4e7c218a24fb8d5c3fd7143462d3070" id="r_gae4e7c218a24fb8d5c3fd7143462d3070"><td class="memItemLeft" align="right" valign="top"><a id="gae4e7c218a24fb8d5c3fd7143462d3070" name="gae4e7c218a24fb8d5c3fd7143462d3070"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:gae4e7c218a24fb8d5c3fd7143462d3070"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointXYZ + Normal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5">LaserScan::kXYNormal</a> (x, y, nx, ny, nz) <br /></td></tr>
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<tr class="separator:gae4e7c218a24fb8d5c3fd7143462d3070"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga6cb623d1b3ce9c244a7d4ef346a721db" id="r_ga6cb623d1b3ce9c244a7d4ef346a721db"><td class="memItemLeft" align="right" valign="top"><a id="ga6cb623d1b3ce9c244a7d4ef346a721db" name="ga6cb623d1b3ce9c244a7d4ef346a721db"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:ga6cb623d1b3ce9c244a7d4ef346a721db"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointXYZINormal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97">LaserScan::kXYINormal</a> (x, y, inensity, nx, ny, nz) <br /></td></tr>
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<tr class="separator:ga6cb623d1b3ce9c244a7d4ef346a721db"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga0354b321c4196232fb1183c3a322b5f8" id="r_ga0354b321c4196232fb1183c3a322b5f8"><td class="memItemLeft" align="right" valign="top"><a id="ga0354b321c4196232fb1183c3a322b5f8" name="ga0354b321c4196232fb1183c3a322b5f8"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScan2dFromPointCloud</b> (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
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<tr class="memdesc:ga0354b321c4196232fb1183c3a322b5f8"><td class="mdescLeft"> </td><td class="mdescRight"><code>PointXYZI + Normal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97">LaserScan::kXYINormal</a> (x, y, inensity, nx, ny, nz) <br /></td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>Converts various PCL point cloud types into a unified 2D <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> format. </p>
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<p>Returns only XY data, with optional intensity and/or normals.</p>
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<h3><a class="anchor" id="autotoc_md1"></a>
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Output:</h3>
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<ul>
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<li><code>PointXYZ</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1">LaserScan::kXY</a></li>
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<li><code>PointXYZI</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00">LaserScan::kXYI</a> (x, y, intensity)</li>
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<li><code>PointNormal</code> or <code>PointXYZ + Normal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5">LaserScan::kXYNormal</a> (x, y, nx, ny, nz)</li>
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<li><code>PointXYZINormal</code> or <code>PointXYZI + Normal</code> → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97">LaserScan::kXYINormal</a> (x, y, inensity, nx, ny, nz)</li>
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</ul>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">cloud</td><td>The input cloud (2D assumed). </td></tr>
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<tr><td class="paramname">normals</td><td>Optional normal cloud. </td></tr>
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<tr><td class="paramname">transform</td><td>Optional transformation to apply. </td></tr>
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<tr><td class="paramname">filterNaNs</td><td>Whether to ignore invalid points. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>A 2D <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>.</dd></dl>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" title="Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...">laserScanFromPointCloud()</a> for 3D extraction. </dd></dl>
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