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<p>Converts various PCL point cloud types into a unified <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> format.
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga16a77d267dc60b14b5bf48ca52547bae" id="r_ga16a77d267dc60b14b5bf48ca52547bae"><td class="memItemLeft" align="right" valign="top"><a id="ga16a77d267dc60b14b5bf48ca52547bae" name="ga16a77d267dc60b14b5bf48ca52547bae"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga16a77d267dc60b14b5bf48ca52547bae"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZ</code> → (x, y, z) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267">LaserScan::kXYZ</a> <br /></td></tr>
<tr class="separator:ga16a77d267dc60b14b5bf48ca52547bae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga75f96d3e3d5d62ce6a9d16a1753c775a" id="r_ga75f96d3e3d5d62ce6a9d16a1753c775a"><td class="memItemLeft" align="right" valign="top"><a id="ga75f96d3e3d5d62ce6a9d16a1753c775a" name="ga75f96d3e3d5d62ce6a9d16a1753c775a"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga75f96d3e3d5d62ce6a9d16a1753c775a"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZ</code> → (x, y, z) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267">LaserScan::kXYZ</a> <br /></td></tr>
<tr class="separator:ga75f96d3e3d5d62ce6a9d16a1753c775a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga7a88e45c9bab555c6d1efd64be765c4d" id="r_ga7a88e45c9bab555c6d1efd64be765c4d"><td class="memItemLeft" align="right" valign="top"><a id="ga7a88e45c9bab555c6d1efd64be765c4d" name="ga7a88e45c9bab555c6d1efd64be765c4d"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga7a88e45c9bab555c6d1efd64be765c4d"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointNormal</code> → (x, y, z, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc">LaserScan::kXYZNormal</a> <br /></td></tr>
<tr class="separator:ga7a88e45c9bab555c6d1efd64be765c4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9470f081e8de0a34550e91e2f74bacd5" id="r_ga9470f081e8de0a34550e91e2f74bacd5"><td class="memItemLeft" align="right" valign="top"><a id="ga9470f081e8de0a34550e91e2f74bacd5" name="ga9470f081e8de0a34550e91e2f74bacd5"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga9470f081e8de0a34550e91e2f74bacd5"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointNormal</code> → (x, y, z, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc">LaserScan::kXYZNormal</a> <br /></td></tr>
<tr class="separator:ga9470f081e8de0a34550e91e2f74bacd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gad5764a399e3a8a5586b94490e0cd7d15" id="r_gad5764a399e3a8a5586b94490e0cd7d15"><td class="memItemLeft" align="right" valign="top"><a id="gad5764a399e3a8a5586b94490e0cd7d15" name="gad5764a399e3a8a5586b94490e0cd7d15"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const pcl::PointCloud&lt; pcl::Normal &gt; &amp;normals, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gad5764a399e3a8a5586b94490e0cd7d15"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointNormal</code> → (x, y, z, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc">LaserScan::kXYZNormal</a> <br /></td></tr>
<tr class="separator:gad5764a399e3a8a5586b94490e0cd7d15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9933faab17e984b2789926abd2ba0caf" id="r_ga9933faab17e984b2789926abd2ba0caf"><td class="memItemLeft" align="right" valign="top"><a id="ga9933faab17e984b2789926abd2ba0caf" name="ga9933faab17e984b2789926abd2ba0caf"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga9933faab17e984b2789926abd2ba0caf"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZRGB</code> → (x, y, z, rgb) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829">LaserScan::kXYZRGB</a> <br /></td></tr>
<tr class="separator:ga9933faab17e984b2789926abd2ba0caf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaa98ccb732868f5ab4e91cd6f82602852" id="r_gaa98ccb732868f5ab4e91cd6f82602852"><td class="memItemLeft" align="right" valign="top"><a id="gaa98ccb732868f5ab4e91cd6f82602852" name="gaa98ccb732868f5ab4e91cd6f82602852"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gaa98ccb732868f5ab4e91cd6f82602852"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZRGB</code> → (x, y, z, rgb) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829">LaserScan::kXYZRGB</a> <br /></td></tr>
<tr class="separator:gaa98ccb732868f5ab4e91cd6f82602852"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gadeb1f66fd39cfcb39c2f152c36b3be62" id="r_gadeb1f66fd39cfcb39c2f152c36b3be62"><td class="memItemLeft" align="right" valign="top"><a id="gadeb1f66fd39cfcb39c2f152c36b3be62" name="gadeb1f66fd39cfcb39c2f152c36b3be62"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gadeb1f66fd39cfcb39c2f152c36b3be62"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZI</code> → (x, y, z, intensity) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42">LaserScan::kXYZI</a> <br /></td></tr>
<tr class="separator:gadeb1f66fd39cfcb39c2f152c36b3be62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga51c683da166a9fcf7e7bf6c834ca03a4" id="r_ga51c683da166a9fcf7e7bf6c834ca03a4"><td class="memItemLeft" align="right" valign="top"><a id="ga51c683da166a9fcf7e7bf6c834ca03a4" name="ga51c683da166a9fcf7e7bf6c834ca03a4"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga51c683da166a9fcf7e7bf6c834ca03a4"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZI</code> → (x, y, z, intensity) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42">LaserScan::kXYZI</a> <br /></td></tr>
<tr class="separator:ga51c683da166a9fcf7e7bf6c834ca03a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga655a37385c6ca40ec99e76045c04040b" id="r_ga655a37385c6ca40ec99e76045c04040b"><td class="memItemLeft" align="right" valign="top"><a id="ga655a37385c6ca40ec99e76045c04040b" name="ga655a37385c6ca40ec99e76045c04040b"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; <a class="el" href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a> &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga655a37385c6ca40ec99e76045c04040b"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code><a class="el" href="structrtabmap_1_1PointXYZIRT.html" title="This namespace contains 3D point cloud processing utilities.">rtabmap::PointXYZIRT</a></code> → (x, y, z, intensity, ring time) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7">LaserScan::kXYZIRT</a> <br /></td></tr>
<tr class="separator:ga655a37385c6ca40ec99e76045c04040b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga04169bd4b4488350b08709af9581b289" id="r_ga04169bd4b4488350b08709af9581b289"><td class="memItemLeft" align="right" valign="top"><a id="ga04169bd4b4488350b08709af9581b289" name="ga04169bd4b4488350b08709af9581b289"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; <a class="el" href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a> &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga04169bd4b4488350b08709af9581b289"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code><a class="el" href="structrtabmap_1_1PointXYZIRT.html" title="This namespace contains 3D point cloud processing utilities.">rtabmap::PointXYZIRT</a></code> → (x, y, z, intensity, ring time) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7">LaserScan::kXYZIRT</a> <br /></td></tr>
<tr class="separator:ga04169bd4b4488350b08709af9581b289"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga75bf455d6cc912b4ee18785de71c50a5" id="r_ga75bf455d6cc912b4ee18785de71c50a5"><td class="memItemLeft" align="right" valign="top"><a id="ga75bf455d6cc912b4ee18785de71c50a5" name="ga75bf455d6cc912b4ee18785de71c50a5"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, const pcl::PointCloud&lt; pcl::Normal &gt; &amp;normals, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga75bf455d6cc912b4ee18785de71c50a5"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZRGBNormal</code> → (x, y, z, rgb, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">LaserScan::kXYZRGBNormal</a> <br /></td></tr>
<tr class="separator:ga75bf455d6cc912b4ee18785de71c50a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaf509a7c65e02d8690c971294c43bda47" id="r_gaf509a7c65e02d8690c971294c43bda47"><td class="memItemLeft" align="right" valign="top"><a id="gaf509a7c65e02d8690c971294c43bda47" name="gaf509a7c65e02d8690c971294c43bda47"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gaf509a7c65e02d8690c971294c43bda47"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZRGBNormal</code> → (x, y, z, rgb, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">LaserScan::kXYZRGBNormal</a> <br /></td></tr>
<tr class="separator:gaf509a7c65e02d8690c971294c43bda47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9344c712c57af92d7612b0af76226f06" id="r_ga9344c712c57af92d7612b0af76226f06"><td class="memItemLeft" align="right" valign="top"><a id="ga9344c712c57af92d7612b0af76226f06" name="ga9344c712c57af92d7612b0af76226f06"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga9344c712c57af92d7612b0af76226f06"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZRGBNormal</code> → (x, y, z, rgb, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">LaserScan::kXYZRGBNormal</a> <br /></td></tr>
<tr class="separator:ga9344c712c57af92d7612b0af76226f06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga79e460158de1d3934abcd8fad488fb24" id="r_ga79e460158de1d3934abcd8fad488fb24"><td class="memItemLeft" align="right" valign="top"><a id="ga79e460158de1d3934abcd8fad488fb24" name="ga79e460158de1d3934abcd8fad488fb24"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;cloud, const pcl::PointCloud&lt; pcl::Normal &gt; &amp;normals, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:ga79e460158de1d3934abcd8fad488fb24"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZINormal</code> → (x, y, z, intensity, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8">LaserScan::kXYZINormal</a> <br /></td></tr>
<tr class="separator:ga79e460158de1d3934abcd8fad488fb24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gafb165d79d23620b42af0653ae045fb91" id="r_gafb165d79d23620b42af0653ae045fb91"><td class="memItemLeft" align="right" valign="top"><a id="gafb165d79d23620b42af0653ae045fb91" name="gafb165d79d23620b42af0653ae045fb91"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt; &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gafb165d79d23620b42af0653ae045fb91"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZINormal</code> → (x, y, z, intensity, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8">LaserScan::kXYZINormal</a> <br /></td></tr>
<tr class="separator:gafb165d79d23620b42af0653ae045fb91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gab2d54043075851c5e23f487001adacb6" id="r_gab2d54043075851c5e23f487001adacb6"><td class="memItemLeft" align="right" valign="top"><a id="gab2d54043075851c5e23f487001adacb6" name="gab2d54043075851c5e23f487001adacb6"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanFromPointCloud</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt; &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), bool filterNaNs=true)</td></tr>
<tr class="memdesc:gab2d54043075851c5e23f487001adacb6"><td class="mdescLeft">&#160;</td><td class="mdescRight"><code>pcl::PointXYZINormal</code> → (x, y, z, intensity, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8">LaserScan::kXYZINormal</a> <br /></td></tr>
<tr class="separator:gab2d54043075851c5e23f487001adacb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga078f5eae0077169e636ec76e03973edc" id="r_ga078f5eae0077169e636ec76e03973edc"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud2T &gt; </td></tr>
<tr class="memitem:ga078f5eae0077169e636ec76e03973edc"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">rtabmap::util3d::laserScanFromPointCloud</a> (const PointCloud2T &amp;cloud, bool filterNaNs=true, bool is2D=false, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>())</td></tr>
<tr class="memdesc:ga078f5eae0077169e636ec76e03973edc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert <code>pcl::PCLPointCloud2</code> to <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> 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>
<tr class="separator:ga078f5eae0077169e636ec76e03973edc"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Converts various PCL point cloud types into a unified <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> format. </p>
<p>These functions extract laser scan data from 3D point clouds, optionally applying a transform and filtering invalid points. Depending on the input type, output data may include position (x, y, z), intensity, color, and/or surface normals.</p>
<h3><a class="anchor" id="autotoc_md12"></a>
Supported input types and corresponding output data:</h3>
<ul>
<li><code>pcl::PointXYZ</code> → (x, y, z) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267">LaserScan::kXYZ</a></li>
<li><code>pcl::PointXYZRGB</code> → (x, y, z, rgb) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829">LaserScan::kXYZRGB</a></li>
<li><code>pcl::PointXYZI</code> → (x, y, z, intensity) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42">LaserScan::kXYZI</a></li>
<li><code>pcl::PointNormal</code> → (x, y, z, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc">LaserScan::kXYZNormal</a></li>
<li><code>pcl::PointXYZRGBNormal</code> → (x, y, z, rgb, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">LaserScan::kXYZRGBNormal</a></li>
<li><code>pcl::PointXYZINormal</code> → (x, y, z, intensity, nx, ny, nz) → <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8">LaserScan::kXYZINormal</a></li>
<li>Combined point + normal cloud also supported.</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">cloud</td><td>The input PCL point cloud. </td></tr>
<tr><td class="paramname">indices</td><td>Optional subset of indices to use from the point cloud. </td></tr>
<tr><td class="paramname">normals</td><td>Optional normal cloud if not included in point type. </td></tr>
<tr><td class="paramname">transform</td><td>Optional rigid body transform to apply to the points. </td></tr>
<tr><td class="paramname">filterNaNs</td><td>Whether to ignore invalid or NaN points. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A <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> object containing scan data in appropriate format.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" title="PointXYZ → LaserScan::kXY">laserScan2dFromPointCloud()</a> for 2D-only extraction. </dd></dl>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga078f5eae0077169e636ec76e03973edc" name="ga078f5eae0077169e636ec76e03973edc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga078f5eae0077169e636ec76e03973edc">&#9670;&#160;</a></span>laserScanFromPointCloud()</h2>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointCloud2T &gt; </div>
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> rtabmap::util3d::laserScanFromPointCloud </td>
<td>(</td>
<td class="paramtype">const PointCloud2T &amp;&#160;</td>
<td class="paramname"><em>cloud</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>filterNaNs</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>is2D</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
<td class="paramname"><em>transform</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Convert <code>pcl::PCLPointCloud2</code> to <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> 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>) </p>
<p class="definition">Definition at line <a class="el" href="util3d_8hpp_source.html#l00037">37</a> of file <a class="el" href="util3d_8hpp_source.html">util3d.hpp</a>.</p>
</div>
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