LaserScan to PCL

Functions to convert LaserScan data to various PCL point cloud formats. More...

Functions
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloud2 (const LaserScan &laserScan, const Transform &transform=Transform())
	Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::Format)
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
pcl::PointXYZ RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPoint (const LaserScan &laserScan, int index)
pcl::PointNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointNormal (const LaserScan &laserScan, int index)
pcl::PointXYZRGB RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
pcl::PointXYZI RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointI (const LaserScan &laserScan, int index, float intensity)
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
pcl::PointXYZINormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity)

Detailed Description

Functions to convert LaserScan data to various PCL point cloud formats.

These functions convert an instance of rtabmap::LaserScan 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 LaserScan is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input LaserScan doesn't have normals but the output does, the normals are set to zeros.

laserScanToPoint() functions convert a single point from the LaserScan at the specificied index.