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Preview for PR #1492 478d74ebb51e815d074c2120d6dfa2e3fd1ec4a8
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@@ -115,45 +115,57 @@ pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight"
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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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<tr class="memdesc:gac4aef207f79791db5064dc596e25513b"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <code>PointXYZ</code> (x, y, z); any other field of the scan is dropped. <br /></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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<tr class="memdesc:gafe2b6826178bf0af878be67bddf3c9bd"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <code>PointNormal</code> (x, y, z, nx, ny, nz); normals are zeroed if the scan has none. <br /></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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<tr class="memdesc:gaee3e6a7ef23f6e5f9a19a0b033d7522c"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <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>
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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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<tr class="memdesc:ga734628cdc1b15384476dc94d1c3dbb4d"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <code>PointXYZI</code> (x, y, z, intensity); <code>intensity</code> is used if the scan has none. <br /></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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<tr class="memdesc:ga741bd010511d5284831012194eab99b9"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <code>PointXYZRGBNormal</code> (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as above. <br /></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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<tr class="memdesc:ga8ee678c27ae59e2bb3fac8aeb55f9d92"><td class="mdescLeft"> </td><td class="mdescRight"><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> → <code>PointXYZINormal</code> (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above. <br /></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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<tr class="memdesc:gaeda3b4a673cb96e6421688e6c575e4e5"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZ</code>. <br /></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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<tr class="memdesc:ga4412f275d60b69f0f62db56321c5991c"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointNormal</code>. <br /></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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<tr class="memdesc:gad0183648eae48143b33bfe969f8cbe43"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGB</code>. <br /></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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<tr class="memdesc:ga03b1c3a49aba08fcbc01b5991f25d0cc"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZI</code>. <br /></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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<tr class="memdesc:ga675b84c6a6edde91883e38f49c087f31"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGBNormal</code>. <br /></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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<tr class="memdesc:gab69062f7ffd0f2192983c6d7afa4a171"><td class="mdescLeft"> </td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZINormal</code>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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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. </p>
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<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>
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<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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<p><a class="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 <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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