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<div class="headertitle"><div class="title">rtabmap::LaserScan Class Reference</div></div>
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<p>Represents 2D or 3D laser scan data with support for multiple point data formats.
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<a href="classrtabmap_1_1LaserScan.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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Public Types</h2></td></tr>
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<tr class="memitem:a38f5602d1411c204d54be9b3c7320007" id="r_a38f5602d1411c204d54be9b3c7320007"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> { <br />
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  <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d">kUnknown</a> =0
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1">kXY</a> =1
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00">kXYI</a> =2
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5">kXYNormal</a> =3
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, <br />
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  <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97">kXYINormal</a> =4
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267">kXYZ</a> =5
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42">kXYZI</a> =6
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829">kXYZRGB</a> =7
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, <br />
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  <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc">kXYZNormal</a> =8
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8">kXYZINormal</a> =9
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07">kXYZRGBNormal</a> =10
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, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c">kXYZIT</a> =11
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, <br />
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  <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7">kXYZIRT</a> =12
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<br />
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}</td></tr>
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<tr class="memdesc:a38f5602d1411c204d54be9b3c7320007"><td class="mdescLeft"> </td><td class="mdescRight">Enumeration of possible formats for laser scan data. <a href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">More...</a><br /></td></tr>
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<tr class="separator:a38f5602d1411c204d54be9b3c7320007"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Constructors</div></td></tr>
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<tr class="memitem:a9c69f87f71d389393d4e85bd1000d339" id="r_a9c69f87f71d389393d4e85bd1000d339"><td class="memItemLeft" align="right" valign="top"><a id="a9c69f87f71d389393d4e85bd1000d339" name="a9c69f87f71d389393d4e85bd1000d339"></a>
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 </td><td class="memItemRight" valign="bottom"><b>LaserScan</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &data, int maxPoints, float maxRange, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="separator:a9c69f87f71d389393d4e85bd1000d339"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0cb5ba7c590cea1b36c81804acdbf302" id="r_a0cb5ba7c590cea1b36c81804acdbf302"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302">LaserScan</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &data, int maxPoints, float maxRange, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memitem:a87ee61e9a38ef32f54cd4fa7c56e4756" id="r_a87ee61e9a38ef32f54cd4fa7c56e4756"><td class="memItemLeft" align="right" valign="top"><a id="a87ee61e9a38ef32f54cd4fa7c56e4756" name="a87ee61e9a38ef32f54cd4fa7c56e4756"></a>
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 </td><td class="memItemRight" valign="bottom"><b>LaserScan</b> (const cv::Mat &data, int maxPoints, float maxRange, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="separator:a87ee61e9a38ef32f54cd4fa7c56e4756"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaf554921f866f90c48a6174d5f97a016" id="r_aaf554921f866f90c48a6174d5f97a016"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016">LaserScan</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &data, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memitem:a155c5c00854c64ee69efc586e684b782" id="r_a155c5c00854c64ee69efc586e684b782"><td class="memItemLeft" align="right" valign="top"><a id="a155c5c00854c64ee69efc586e684b782" name="a155c5c00854c64ee69efc586e684b782"></a>
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 </td><td class="memItemRight" valign="bottom"><b>LaserScan</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &data, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memitem:a5801f9d03d7e3292cce6b1a36e7b16cf" id="r_a5801f9d03d7e3292cce6b1a36e7b16cf"><td class="memItemLeft" align="right" valign="top"><a id="a5801f9d03d7e3292cce6b1a36e7b16cf" name="a5801f9d03d7e3292cce6b1a36e7b16cf"></a>
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 </td><td class="memItemRight" valign="bottom"><b>LaserScan</b> (const cv::Mat &data, <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr><td colspan="2"><div class="groupHeader">Accessors</div></td></tr>
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<tr class="memitem:a986cac0b83b7b450f1ea2ea8da9c793e" id="r_a986cac0b83b7b450f1ea2ea8da9c793e"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a986cac0b83b7b450f1ea2ea8da9c793e">data</a> () const</td></tr>
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<tr class="memitem:ab252be956c843aa0fcd768fd3c2c34f1" id="r_ab252be956c843aa0fcd768fd3c2c34f1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ab252be956c843aa0fcd768fd3c2c34f1">format</a> () const</td></tr>
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<tr class="memitem:a9fd9b77bc3360393ea2d74cfbbf0cf48" id="r_a9fd9b77bc3360393ea2d74cfbbf0cf48"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a9fd9b77bc3360393ea2d74cfbbf0cf48">formatName</a> () const</td></tr>
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<tr class="memitem:a7e2d95a4af0d2dd905c783398e9ef3fd" id="r_a7e2d95a4af0d2dd905c783398e9ef3fd"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a7e2d95a4af0d2dd905c783398e9ef3fd">channels</a> () const</td></tr>
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<tr class="memitem:aca5e538a9528e3bc590885c8fbeca470" id="r_aca5e538a9528e3bc590885c8fbeca470"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#aca5e538a9528e3bc590885c8fbeca470">maxPoints</a> () const</td></tr>
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<tr class="memitem:a90b55280d452a293ac262a2cd7a02041" id="r_a90b55280d452a293ac262a2cd7a02041"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a90b55280d452a293ac262a2cd7a02041">rangeMin</a> () const</td></tr>
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<tr class="memitem:a44743488b6d0de546e67f8759f854e5b" id="r_a44743488b6d0de546e67f8759f854e5b"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a44743488b6d0de546e67f8759f854e5b">rangeMax</a> () const</td></tr>
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<tr class="memitem:a0ad0eb4c721d651091e5b7aa0d041c3e" id="r_a0ad0eb4c721d651091e5b7aa0d041c3e"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a0ad0eb4c721d651091e5b7aa0d041c3e">angleMin</a> () const</td></tr>
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<tr class="memitem:a707ea93092b792bfd7f667a44591b76d" id="r_a707ea93092b792bfd7f667a44591b76d"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a707ea93092b792bfd7f667a44591b76d">angleMax</a> () const</td></tr>
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<tr class="memitem:a188d95562b421c53f34aa4d68346df24" id="r_a188d95562b421c53f34aa4d68346df24"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a188d95562b421c53f34aa4d68346df24">angleIncrement</a> () const</td></tr>
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<tr class="separator:a188d95562b421c53f34aa4d68346df24"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0b9a2504d8388de0c2f416d459fe1937" id="r_a0b9a2504d8388de0c2f416d459fe1937"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a0b9a2504d8388de0c2f416d459fe1937">setLocalTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &t)</td></tr>
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<tr class="memitem:a17d0228859537df016eaf201b9b5f1b0" id="r_a17d0228859537df016eaf201b9b5f1b0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a17d0228859537df016eaf201b9b5f1b0">localTransform</a> () const</td></tr>
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<tr><td colspan="2"><div class="groupHeader">Status and Format Checks</div></td></tr>
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<tr class="memitem:a6a435960b360cad3db16436cc97304b0" id="r_a6a435960b360cad3db16436cc97304b0"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a6a435960b360cad3db16436cc97304b0">empty</a> () const</td></tr>
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<tr class="memitem:a186b923902eeb2dc3dbc2bcdf4a15b1e" id="r_a186b923902eeb2dc3dbc2bcdf4a15b1e"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a186b923902eeb2dc3dbc2bcdf4a15b1e">isEmpty</a> () const</td></tr>
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<tr class="memitem:a7732b0f68e85ad8791a8210aeeb86a9b" id="r_a7732b0f68e85ad8791a8210aeeb86a9b"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a7732b0f68e85ad8791a8210aeeb86a9b">size</a> () const</td></tr>
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<tr class="separator:a7732b0f68e85ad8791a8210aeeb86a9b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0f09aac89571b723d02d9fef1ee04c10" id="r_a0f09aac89571b723d02d9fef1ee04c10"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a0f09aac89571b723d02d9fef1ee04c10">dataType</a> () const</td></tr>
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<tr class="separator:a0f09aac89571b723d02d9fef1ee04c10"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a86234bf9a33f479d5498a88cac5433e3" id="r_a86234bf9a33f479d5498a88cac5433e3"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a86234bf9a33f479d5498a88cac5433e3">is2d</a> () const</td></tr>
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<tr class="separator:a86234bf9a33f479d5498a88cac5433e3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afa003ef2ed7cbf49f4dc923aa6374229" id="r_afa003ef2ed7cbf49f4dc923aa6374229"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#afa003ef2ed7cbf49f4dc923aa6374229">hasNormals</a> () const</td></tr>
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<tr class="separator:afa003ef2ed7cbf49f4dc923aa6374229"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a40a61a99c0ba96e813fcd4f4b0e270f1" id="r_a40a61a99c0ba96e813fcd4f4b0e270f1"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a40a61a99c0ba96e813fcd4f4b0e270f1">hasRGB</a> () const</td></tr>
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<tr class="separator:a40a61a99c0ba96e813fcd4f4b0e270f1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a867ce8e2856d3af3916710247beea6d8" id="r_a867ce8e2856d3af3916710247beea6d8"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a867ce8e2856d3af3916710247beea6d8">hasIntensity</a> () const</td></tr>
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<tr class="separator:a867ce8e2856d3af3916710247beea6d8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac5ab594b61bcf78af2d04aa8a694c289" id="r_ac5ab594b61bcf78af2d04aa8a694c289"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ac5ab594b61bcf78af2d04aa8a694c289">hasTime</a> () const</td></tr>
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<tr class="separator:ac5ab594b61bcf78af2d04aa8a694c289"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab30f745e5a9813ac31c44831dc9d9764" id="r_ab30f745e5a9813ac31c44831dc9d9764"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ab30f745e5a9813ac31c44831dc9d9764">hasRing</a> () const</td></tr>
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<tr class="memitem:a25e8e9681240f4a21960977f5c12bcd9" id="r_a25e8e9681240f4a21960977f5c12bcd9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9">isCompressed</a> () const</td></tr>
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<tr class="memdesc:a25e8e9681240f4a21960977f5c12bcd9"><td class="mdescLeft"> </td><td class="mdescRight">True if the scan is stored compressed (single-row <code>CV_8UC1</code> blob) instead of raw points. <br /></td></tr>
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<tr class="separator:a25e8e9681240f4a21960977f5c12bcd9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad37c0cc20ce14ac51d2c5aeba56c7a2b" id="r_ad37c0cc20ce14ac51d2c5aeba56c7a2b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ad37c0cc20ce14ac51d2c5aeba56c7a2b">isOrganized</a> () const</td></tr>
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<tr class="separator:ad37c0cc20ce14ac51d2c5aeba56c7a2b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af8abe90de6b9bd003f61c82dee681359" id="r_af8abe90de6b9bd003f61c82dee681359"><td class="memItemLeft" align="right" valign="top"><a id="af8abe90de6b9bd003f61c82dee681359" name="af8abe90de6b9bd003f61c82dee681359"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><b>clone</b> () const</td></tr>
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<tr class="separator:af8abe90de6b9bd003f61c82dee681359"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3fb1121e72997f6a969b0177b207f25e" id="r_a3fb1121e72997f6a969b0177b207f25e"><td class="memItemLeft" align="right" valign="top"><a id="a3fb1121e72997f6a969b0177b207f25e" name="a3fb1121e72997f6a969b0177b207f25e"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><b>densify</b> () const</td></tr>
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<tr class="separator:a3fb1121e72997f6a969b0177b207f25e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr><td colspan="2"><div class="groupHeader">Operations</div></td></tr>
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<tr class="memitem:a2398c1f95b842645479e1c53a62cc900" id="r_a2398c1f95b842645479e1c53a62cc900"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a2398c1f95b842645479e1c53a62cc900">getIntensityOffset</a> () const</td></tr>
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<tr class="separator:a2398c1f95b842645479e1c53a62cc900"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2515f2d36f97d5b15d6e08af37e53851" id="r_a2515f2d36f97d5b15d6e08af37e53851"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a2515f2d36f97d5b15d6e08af37e53851">getRGBOffset</a> () const</td></tr>
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<tr class="separator:a2515f2d36f97d5b15d6e08af37e53851"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a20549e8b64c36325c92f6b70c8b3245c" id="r_a20549e8b64c36325c92f6b70c8b3245c"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a20549e8b64c36325c92f6b70c8b3245c">getNormalsOffset</a> () const</td></tr>
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<tr class="separator:a20549e8b64c36325c92f6b70c8b3245c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac9f6834e53e7530e5bda84bd541e82c5" id="r_ac9f6834e53e7530e5bda84bd541e82c5"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ac9f6834e53e7530e5bda84bd541e82c5">getRingOffset</a> () const</td></tr>
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<tr class="separator:ac9f6834e53e7530e5bda84bd541e82c5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab7e641c3549c2e505f669e7a582e913c" id="r_ab7e641c3549c2e505f669e7a582e913c"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#ab7e641c3549c2e505f669e7a582e913c">getTimeOffset</a> () const</td></tr>
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<tr class="separator:ab7e641c3549c2e505f669e7a582e913c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a61d7ecfee5d444fdde06efb0f13ed68d" id="r_a61d7ecfee5d444fdde06efb0f13ed68d"><td class="memItemLeft" align="right" valign="top">float & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">field</a> (unsigned int pointIndex, unsigned int channelOffset)</td></tr>
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<tr class="memdesc:a61d7ecfee5d444fdde06efb0f13ed68d"><td class="mdescLeft"> </td><td class="mdescRight">Access a specific field value of a point. <br /></td></tr>
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<tr class="separator:a61d7ecfee5d444fdde06efb0f13ed68d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af0ad1e84f0be48a84b772385249adb45" id="r_af0ad1e84f0be48a84b772385249adb45"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45">clear</a> ()</td></tr>
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<tr class="memdesc:af0ad1e84f0be48a84b772385249adb45"><td class="mdescLeft"> </td><td class="mdescRight">Clear the scan data. <br /></td></tr>
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<tr class="separator:af0ad1e84f0be48a84b772385249adb45"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af9f9a32f97cfbac321fc2509f0d1bd04" id="r_af9f9a32f97cfbac321fc2509f0d1bd04"><td class="memItemLeft" align="right" valign="top"><a id="af9f9a32f97cfbac321fc2509f0d1bd04" name="af9f9a32f97cfbac321fc2509f0d1bd04"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & </td><td class="memItemRight" valign="bottom"><b>operator+=</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &)</td></tr>
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<tr class="memdesc:af9f9a32f97cfbac321fc2509f0d1bd04"><td class="mdescLeft"> </td><td class="mdescRight">Concatenate scan's data (localTransform is ignored). <br /></td></tr>
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<tr class="separator:af9f9a32f97cfbac321fc2509f0d1bd04"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab952e27e94b2fa942efe98ea651f4475" id="r_ab952e27e94b2fa942efe98ea651f4475"><td class="memItemLeft" align="right" valign="top"><a id="ab952e27e94b2fa942efe98ea651f4475" name="ab952e27e94b2fa942efe98ea651f4475"></a>
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<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><b>operator+</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &)</td></tr>
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<tr class="memdesc:ab952e27e94b2fa942efe98ea651f4475"><td class="mdescLeft"> </td><td class="mdescRight">Concatenate scan's data (localTransform is ignored). <br /></td></tr>
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<tr class="separator:ab952e27e94b2fa942efe98ea651f4475"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Static Utility Functions</div></td></tr>
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<tr class="memitem:a1765af30fa5ce7065aebb9382e59d833" id="r_a1765af30fa5ce7065aebb9382e59d833"><td class="memItemLeft" align="right" valign="top"><a id="a1765af30fa5ce7065aebb9382e59d833" name="a1765af30fa5ce7065aebb9382e59d833"></a>
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static std::string </td><td class="memItemRight" valign="bottom"><b>formatName</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="separator:a1765af30fa5ce7065aebb9382e59d833"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa4b2d560c7b16617341719777742258b" id="r_aa4b2d560c7b16617341719777742258b"><td class="memItemLeft" align="right" valign="top"><a id="aa4b2d560c7b16617341719777742258b" name="aa4b2d560c7b16617341719777742258b"></a>
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static int </td><td class="memItemRight" valign="bottom"><b>channels</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:acf259dc2f92a769acc92324189af054a" id="r_acf259dc2f92a769acc92324189af054a"><td class="memItemLeft" align="right" valign="top"><a id="acf259dc2f92a769acc92324189af054a" name="acf259dc2f92a769acc92324189af054a"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScan2d</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:ac80458264abc2caf6af735c94e3a9010" id="r_ac80458264abc2caf6af735c94e3a9010"><td class="memItemLeft" align="right" valign="top"><a id="ac80458264abc2caf6af735c94e3a9010" name="ac80458264abc2caf6af735c94e3a9010"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScanHasNormals</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:afa13124e1bc4f0462c0d2fc2c6980253" id="r_afa13124e1bc4f0462c0d2fc2c6980253"><td class="memItemLeft" align="right" valign="top"><a id="afa13124e1bc4f0462c0d2fc2c6980253" name="afa13124e1bc4f0462c0d2fc2c6980253"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScanHasRGB</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="separator:afa13124e1bc4f0462c0d2fc2c6980253"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a240be3c4b3d5fd5d58755d32d0534cac" id="r_a240be3c4b3d5fd5d58755d32d0534cac"><td class="memItemLeft" align="right" valign="top"><a id="a240be3c4b3d5fd5d58755d32d0534cac" name="a240be3c4b3d5fd5d58755d32d0534cac"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScanHasIntensity</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:a102cb600cf207f2ddc5547d0f26a125e" id="r_a102cb600cf207f2ddc5547d0f26a125e"><td class="memItemLeft" align="right" valign="top"><a id="a102cb600cf207f2ddc5547d0f26a125e" name="a102cb600cf207f2ddc5547d0f26a125e"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScanHasTime</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:a52cee0f44943633961a9d37c381d5d47" id="r_a52cee0f44943633961a9d37c381d5d47"><td class="memItemLeft" align="right" valign="top"><a id="a52cee0f44943633961a9d37c381d5d47" name="a52cee0f44943633961a9d37c381d5d47"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>isScanHasRing</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> &format)</td></tr>
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<tr class="memitem:afe072b1711a450e22ef39d20eba57d73" id="r_afe072b1711a450e22ef39d20eba57d73"><td class="memItemLeft" align="right" valign="top"><a id="afe072b1711a450e22ef39d20eba57d73" name="afe072b1711a450e22ef39d20eba57d73"></a>
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static float </td><td class="memItemRight" valign="bottom"><b>packRGB</b> (unsigned char r, unsigned char g, unsigned char b)</td></tr>
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static void </td><td class="memItemRight" valign="bottom"><b>unpackRGB</b> (float rgb, unsigned char &r, unsigned char &g, unsigned char &b)</td></tr>
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static <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><b>backwardCompatibility</b> (const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memdesc:aafea81eab365a2fc2b4f90d8deceafc9"><td class="mdescLeft"> </td><td class="mdescRight">Converts legacy scan format to 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. <br /></td></tr>
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static <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><b>backwardCompatibility</b> (const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memdesc:a61e1fefc6554dd6fc1da3c2e5aeefd0c"><td class="mdescLeft"> </td><td class="mdescRight">Converts legacy scan format with additional metadata to 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>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Represents 2D or 3D laser scan data with support for multiple point data formats. </p>
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<p>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> class stores structured laser scan data used in SLAM, mapping, and perception. It supports various formats including point coordinates, intensity, normals, RGB colors, and timestamps. Utility methods are provided for format checking, cloning, and combining scans. </p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00045">45</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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<a id="a38f5602d1411c204d54be9b3c7320007" name="a38f5602d1411c204d54be9b3c7320007"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a38f5602d1411c204d54be9b3c7320007">◆ </a></span>Format</h2>
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<td class="memname">enum <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">rtabmap::LaserScan::Format</a></td>
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<p>Enumeration of possible formats for laser scan data. </p>
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<p>These values represent different combinations of point attributes that can be stored in a laser scan. The format determines how each point in the scan is structured. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d" name="a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d"></a>kUnknown </td><td class="fielddoc"><p>Unknown format. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1" name="a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1"></a>kXY </td><td class="fielddoc"><p>2D points with X and Y coordinates. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00" name="a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00"></a>kXYI </td><td class="fielddoc"><p>2D points with X, Y and intensity. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5" name="a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5"></a>kXYNormal </td><td class="fielddoc"><p>2D points with X, Y and normal vectors. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97" name="a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97"></a>kXYINormal </td><td class="fielddoc"><p>2D points with X, Y, intensity and normal vectors. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267" name="a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267"></a>kXYZ </td><td class="fielddoc"><p>3D points with X, Y and Z coordinates. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42" name="a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42"></a>kXYZI </td><td class="fielddoc"><p>3D points with X, Y, Z and intensity. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829" name="a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829"></a>kXYZRGB </td><td class="fielddoc"><p>3D points with X, Y, Z and RGB color. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc" name="a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc"></a>kXYZNormal </td><td class="fielddoc"><p>3D points with X, Y, Z and normal vectors. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8" name="a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8"></a>kXYZINormal </td><td class="fielddoc"><p>3D points with X, Y, Z, intensity and normal vectors. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07" name="a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07"></a>kXYZRGBNormal </td><td class="fielddoc"><p>3D points with X, Y, Z, RGB color and normal vectors. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c" name="a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c"></a>kXYZIT </td><td class="fielddoc"><p>3D points with X, Y, Z, intensity and time. </p>
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<tr><td class="fieldname"><a id="a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7" name="a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7"></a>kXYZIRT </td><td class="fielddoc"><p>3D points with X, Y, Z, intensity, ring and time. </p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00055">55</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a0cb5ba7c590cea1b36c81804acdbf302">◆ </a></span>LaserScan() <span class="overload">[1/2]</span></h2>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & </td>
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<td class="paramname"><em>format</em>, </td>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>Use constructor without <code>format</code> argument. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aaf554921f866f90c48a6174d5f97a016">◆ </a></span>LaserScan() <span class="overload">[2/2]</span></h2>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> </td>
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<td class="paramname"><em>format</em>, </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00156">156</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00157">157</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00158">158</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7e2d95a4af0d2dd905c783398e9ef3fd">◆ </a></span>channels()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00159">159</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aca5e538a9528e3bc590885c8fbeca470">◆ </a></span>maxPoints()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00160">160</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a90b55280d452a293ac262a2cd7a02041">◆ </a></span>rangeMin()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00161">161</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a44743488b6d0de546e67f8759f854e5b">◆ </a></span>rangeMax()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00162">162</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ad0eb4c721d651091e5b7aa0d041c3e">◆ </a></span>angleMin()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00163">163</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a707ea93092b792bfd7f667a44591b76d">◆ </a></span>angleMax()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00164">164</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a188d95562b421c53f34aa4d68346df24">◆ </a></span>angleIncrement()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00165">165</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0b9a2504d8388de0c2f416d459fe1937">◆ </a></span>setLocalTransform()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00166">166</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00167">167</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00172">172</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00173">173</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00174">174</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00175">175</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00176">176</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00177">177</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a40a61a99c0ba96e813fcd4f4b0e270f1">◆ </a></span>hasRGB()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00178">178</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a867ce8e2856d3af3916710247beea6d8">◆ </a></span>hasIntensity()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00179">179</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac5ab594b61bcf78af2d04aa8a694c289">◆ </a></span>hasTime()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00180">180</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab30f745e5a9813ac31c44831dc9d9764">◆ </a></span>hasRing()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00181">181</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a25e8e9681240f4a21960977f5c12bcd9">◆ </a></span>isCompressed()</h2>
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<p>True if the scan is stored compressed (single-row <code>CV_8UC1</code> blob) instead of raw points. </p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00183">183</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00184">184</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2398c1f95b842645479e1c53a62cc900">◆ </a></span>getIntensityOffset()</h2>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00191">191</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00192">192</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00193">193</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00194">194</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00195">195</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<p>Access a specific field value of a point. </p>
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<dl class="section see"><dt>See also</dt><dd>getIntensityOffset() getRGBOffset() getNormalsOffset() getTimeOffset() </dd></dl>
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<p>Clear the scan data. </p>
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<p class="definition">Definition at line <a class="el" href="LaserScan_8h_source.html#l00209">209</a> of file <a class="el" href="LaserScan_8h_source.html">LaserScan.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="LaserScan_8h_source.html">LaserScan.h</a></li>
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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a></li>
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