<divclass="headertitle"><divclass="title">LaserScan to PCL</div></div>
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<p>Functions to convert <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> data to various PCL point cloud formats.
<trclass="memdesc:ga394ec840a58a1203fac9725d49a0013c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Convert <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">rtabmap::LaserScan</a> to <code>pcl::PCLPointCloud2</code> with all supported fields (see <aclass="el"href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007"title="Enumeration of possible formats for laser scan data.">rtabmap::LaserScan::Format</a>) <br/></td></tr>
<trclass="memdesc:gac4aef207f79791db5064dc596e25513b"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointXYZ</code> (x, y, z); any other field of the scan is dropped. <br/></td></tr>
<trclass="memdesc:gafe2b6826178bf0af878be67bddf3c9bd"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointNormal</code> (x, y, z, nx, ny, nz); normals are zeroed if the scan has none. <br/></td></tr>
<trclass="memdesc:gaee3e6a7ef23f6e5f9a19a0b033d7522c"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointXYZRGB</code> (x, y, z, rgb); <code>r</code>, <code>g</code> and <code>b</code> are used if the scan has no color. <br/></td></tr>
<trclass="memdesc:ga734628cdc1b15384476dc94d1c3dbb4d"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointXYZI</code> (x, y, z, intensity); <code>intensity</code> is used if the scan has none. <br/></td></tr>
<trclass="memdesc:ga741bd010511d5284831012194eab99b9"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointXYZRGBNormal</code> (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as above. <br/></td></tr>
<trclass="memdesc:ga8ee678c27ae59e2bb3fac8aeb55f9d92"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>→<code>PointXYZINormal</code> (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above. <br/></td></tr>
pcl::PointXYZ RTABMAP_CORE_EXPORT </td><tdclass="memItemRight"valign="bottom"><b>rtabmap::util3d::laserScanToPoint</b> (const <aclass="el"href="classrtabmap_1_1LaserScan.html">LaserScan</a>&laserScan, int index)</td></tr>
<trclass="memdesc:gaeda3b4a673cb96e6421688e6c575e4e5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZ</code>. <br/></td></tr>
pcl::PointNormal RTABMAP_CORE_EXPORT </td><tdclass="memItemRight"valign="bottom"><b>rtabmap::util3d::laserScanToPointNormal</b> (const <aclass="el"href="classrtabmap_1_1LaserScan.html">LaserScan</a>&laserScan, int index)</td></tr>
<trclass="memdesc:ga4412f275d60b69f0f62db56321c5991c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointNormal</code>. <br/></td></tr>
<trclass="memdesc:gad0183648eae48143b33bfe969f8cbe43"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGB</code>. <br/></td></tr>
pcl::PointXYZI RTABMAP_CORE_EXPORT </td><tdclass="memItemRight"valign="bottom"><b>rtabmap::util3d::laserScanToPointI</b> (const <aclass="el"href="classrtabmap_1_1LaserScan.html">LaserScan</a>&laserScan, int index, float intensity)</td></tr>
<trclass="memdesc:ga03b1c3a49aba08fcbc01b5991f25d0cc"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZI</code>. <br/></td></tr>
<trclass="memdesc:ga675b84c6a6edde91883e38f49c087f31"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGBNormal</code>. <br/></td></tr>
pcl::PointXYZINormal RTABMAP_CORE_EXPORT </td><tdclass="memItemRight"valign="bottom"><b>rtabmap::util3d::laserScanToPointINormal</b> (const <aclass="el"href="classrtabmap_1_1LaserScan.html">LaserScan</a>&laserScan, int index, float intensity)</td></tr>
<trclass="memdesc:gab69062f7ffd0f2192983c6d7afa4a171"><tdclass="mdescLeft"> </td><tdclass="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZINormal</code>. <br/></td></tr>
<p>Functions to convert <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> data to various PCL point cloud formats. </p>
<p>These functions convert an instance of <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">rtabmap::LaserScan</a> to different PCL point cloud types, optionally applying a spatial transform. Missing data such as RGB and intensity are handled with default values. If the input <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> doesn't have normals but the output does, the normals are set to zeros.</p>
<p><aclass="el"href="group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5"title="The point at index of the scan, as PointXYZ.">laserScanToPoint()</a> functions convert a single point from the <aclass="el"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> at the specificied index. </p>
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