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<div class="header">
  <div class="headertitle"><div class="title">LASWriter.h</div></div>
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<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) 2010-2024, 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 &quot;AS IS&quot; 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_LASWRITER_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_LASWRITER_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 &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">   51</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">saveLASFile</a>(</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keyword">const</span> std::vector&lt;int&gt; &amp; cameraIds = std::vector&lt;int&gt;());</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="namespacertabmap.html#af174f507bee7dde4f9d45044d7bee8ea">   64</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">saveLASFile</a>(</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt; &amp; cloud,</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keyword">const</span> std::vector&lt;int&gt; &amp; cameraIds = std::vector&lt;int&gt;(),</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">const</span> std::vector&lt;float&gt; &amp; intensities = std::vector&lt;float&gt;());</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="namespacertabmap.html#ad59cb4c65fba713c1a622904c5229198">   77</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">saveLASFile</a>(</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt; &amp; cloud,</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keyword">const</span> std::vector&lt;int&gt; &amp; cameraIds = std::vector&lt;int&gt;());</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_ */</span><span class="preprocessor"></span></div>
<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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_a264208396318e0ecfe2af8f3aafe0374"><div class="ttname"><a href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">rtabmap::saveLASFile</a></div><div class="ttdeci">int RTABMAP_CORE_EXPORT saveLASFile(const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;())</div><div class="ttdoc">Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).</div></div>
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