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< a href = "#func-members" > Functions</ a > </ div >
< div class = "headertitle" >< div class = "title" > LaserScan to PCL</ div ></ div >
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< p > Functions to convert < 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 > data to various PCL point cloud formats.
< a href = "#details" > More...</ a ></ p >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "func-members" name = "func-members" ></ a >
Functions</ h2 ></ td ></ tr >
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pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloud2</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > ())</ td ></ tr >
< tr class = "memdesc:ga394ec840a58a1203fac9725d49a0013c" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Convert < a class = "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 < a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" title = "Enumeration of possible formats for laser scan data." > rtabmap::LaserScan::Format</ a > ) < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloud</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > ())</ td ></ tr >
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pcl::PointCloud< pcl::PointNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloudNormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > ())</ td ></ tr >
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pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloudRGB</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), unsigned char r=100, unsigned char g=100, unsigned char b=100)</ td ></ tr >
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pcl::PointCloud< pcl::PointXYZI > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloudI</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), float intensity=0.0f)</ td ></ tr >
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pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloudRGBNormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), unsigned char r=100, unsigned char g=100, unsigned char b=100)</ td ></ tr >
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pcl::PointCloud< pcl::PointXYZINormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointCloudINormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform=< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), float intensity=0.0f)</ td ></ tr >
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pcl::PointXYZ RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPoint</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index)</ td ></ tr >
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pcl::PointNormal RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointNormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index)</ td ></ tr >
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pcl::PointXYZRGB RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointRGB</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)</ td ></ tr >
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pcl::PointXYZI RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointI</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index, float intensity)</ td ></ tr >
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pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointRGBNormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index, unsigned char r, unsigned char g, unsigned char b)</ td ></ tr >
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pcl::PointXYZINormal RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::laserScanToPointINormal</ b > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, int index, float intensity)</ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< p > Functions to convert < 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 > data to various PCL point cloud formats. </ p >
< p > These functions convert an instance of < a class = "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 < 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 > is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input < 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 > doesn't have normals but the output does, the normals are set to zeros.</ p >
< p > laserScanToPoint() functions convert a single point from 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 > at the specificied index. </ p >
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