rtabmap/api/latest/group__LaserScanToPointCloud.html

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<a href="#func-members">Functions</a>  </div>
  <div class="headertitle"><div class="title">LaserScan to PCL</div></div>
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<p>Functions to convert <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> data to various PCL point cloud formats.  
<a href="#details">More...</a></p>
<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:ga394ec840a58a1203fac9725d49a0013c" id="r_ga394ec840a58a1203fac9725d49a0013c"><td class="memItemLeft" align="right" valign="top"><a id="ga394ec840a58a1203fac9725d49a0013c" name="ga394ec840a58a1203fac9725d49a0013c"></a>
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloud2</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, 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:ga394ec840a58a1203fac9725d49a0013c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">rtabmap::LaserScan</a> to <code>pcl::PCLPointCloud2</code> with all supported fields (see <a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" title="Enumeration of possible formats for laser scan data.">rtabmap::LaserScan::Format</a>) <br /></td></tr>
<tr class="separator:ga394ec840a58a1203fac9725d49a0013c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gac4aef207f79791db5064dc596e25513b" id="r_gac4aef207f79791db5064dc596e25513b"><td class="memItemLeft" align="right" valign="top"><a id="gac4aef207f79791db5064dc596e25513b" name="gac4aef207f79791db5064dc596e25513b"></a>
pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloud</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, 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:gac4aef207f79791db5064dc596e25513b"><td class="mdescLeft">&#160;</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> &rarr; <code>PointXYZ</code> (x, y, z); any other field of the scan is dropped. <br /></td></tr>
<tr class="separator:gac4aef207f79791db5064dc596e25513b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gafe2b6826178bf0af878be67bddf3c9bd" id="r_gafe2b6826178bf0af878be67bddf3c9bd"><td class="memItemLeft" align="right" valign="top"><a id="gafe2b6826178bf0af878be67bddf3c9bd" name="gafe2b6826178bf0af878be67bddf3c9bd"></a>
pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloudNormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, 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:gafe2b6826178bf0af878be67bddf3c9bd"><td class="mdescLeft">&#160;</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> &rarr; <code>PointNormal</code> (x, y, z, nx, ny, nz); normals are zeroed if the scan has none. <br /></td></tr>
<tr class="separator:gafe2b6826178bf0af878be67bddf3c9bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaee3e6a7ef23f6e5f9a19a0b033d7522c" id="r_gaee3e6a7ef23f6e5f9a19a0b033d7522c"><td class="memItemLeft" align="right" valign="top"><a id="gaee3e6a7ef23f6e5f9a19a0b033d7522c" name="gaee3e6a7ef23f6e5f9a19a0b033d7522c"></a>
pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloudRGB</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;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>
<tr class="memdesc:gaee3e6a7ef23f6e5f9a19a0b033d7522c"><td class="mdescLeft">&#160;</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> &rarr; <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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<tr class="memitem:ga734628cdc1b15384476dc94d1c3dbb4d" id="r_ga734628cdc1b15384476dc94d1c3dbb4d"><td class="memItemLeft" align="right" valign="top"><a id="ga734628cdc1b15384476dc94d1c3dbb4d" name="ga734628cdc1b15384476dc94d1c3dbb4d"></a>
pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloudI</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), float intensity=0.0f)</td></tr>
<tr class="memdesc:ga734628cdc1b15384476dc94d1c3dbb4d"><td class="mdescLeft">&#160;</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> &rarr; <code>PointXYZI</code> (x, y, z, intensity); <code>intensity</code> is used if the scan has none. <br /></td></tr>
<tr class="separator:ga734628cdc1b15384476dc94d1c3dbb4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga741bd010511d5284831012194eab99b9" id="r_ga741bd010511d5284831012194eab99b9"><td class="memItemLeft" align="right" valign="top"><a id="ga741bd010511d5284831012194eab99b9" name="ga741bd010511d5284831012194eab99b9"></a>
pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloudRGBNormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;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>
<tr class="memdesc:ga741bd010511d5284831012194eab99b9"><td class="mdescLeft">&#160;</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> &rarr; <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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<tr class="memitem:ga8ee678c27ae59e2bb3fac8aeb55f9d92" id="r_ga8ee678c27ae59e2bb3fac8aeb55f9d92"><td class="memItemLeft" align="right" valign="top"><a id="ga8ee678c27ae59e2bb3fac8aeb55f9d92" name="ga8ee678c27ae59e2bb3fac8aeb55f9d92"></a>
pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointCloudINormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>(), float intensity=0.0f)</td></tr>
<tr class="memdesc:ga8ee678c27ae59e2bb3fac8aeb55f9d92"><td class="mdescLeft">&#160;</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> &rarr; <code>PointXYZINormal</code> (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above. <br /></td></tr>
<tr class="separator:ga8ee678c27ae59e2bb3fac8aeb55f9d92"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaeda3b4a673cb96e6421688e6c575e4e5" id="r_gaeda3b4a673cb96e6421688e6c575e4e5"><td class="memItemLeft" align="right" valign="top"><a id="gaeda3b4a673cb96e6421688e6c575e4e5" name="gaeda3b4a673cb96e6421688e6c575e4e5"></a>
pcl::PointXYZ RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPoint</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index)</td></tr>
<tr class="memdesc:gaeda3b4a673cb96e6421688e6c575e4e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZ</code>. <br /></td></tr>
<tr class="separator:gaeda3b4a673cb96e6421688e6c575e4e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga4412f275d60b69f0f62db56321c5991c" id="r_ga4412f275d60b69f0f62db56321c5991c"><td class="memItemLeft" align="right" valign="top"><a id="ga4412f275d60b69f0f62db56321c5991c" name="ga4412f275d60b69f0f62db56321c5991c"></a>
pcl::PointNormal RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointNormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index)</td></tr>
<tr class="memdesc:ga4412f275d60b69f0f62db56321c5991c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointNormal</code>. <br /></td></tr>
<tr class="separator:ga4412f275d60b69f0f62db56321c5991c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gad0183648eae48143b33bfe969f8cbe43" id="r_gad0183648eae48143b33bfe969f8cbe43"><td class="memItemLeft" align="right" valign="top"><a id="gad0183648eae48143b33bfe969f8cbe43" name="gad0183648eae48143b33bfe969f8cbe43"></a>
pcl::PointXYZRGB RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointRGB</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)</td></tr>
<tr class="memdesc:gad0183648eae48143b33bfe969f8cbe43"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGB</code>. <br /></td></tr>
<tr class="separator:gad0183648eae48143b33bfe969f8cbe43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga03b1c3a49aba08fcbc01b5991f25d0cc" id="r_ga03b1c3a49aba08fcbc01b5991f25d0cc"><td class="memItemLeft" align="right" valign="top"><a id="ga03b1c3a49aba08fcbc01b5991f25d0cc" name="ga03b1c3a49aba08fcbc01b5991f25d0cc"></a>
pcl::PointXYZI RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointI</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index, float intensity)</td></tr>
<tr class="memdesc:ga03b1c3a49aba08fcbc01b5991f25d0cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZI</code>. <br /></td></tr>
<tr class="separator:ga03b1c3a49aba08fcbc01b5991f25d0cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga675b84c6a6edde91883e38f49c087f31" id="r_ga675b84c6a6edde91883e38f49c087f31"><td class="memItemLeft" align="right" valign="top"><a id="ga675b84c6a6edde91883e38f49c087f31" name="ga675b84c6a6edde91883e38f49c087f31"></a>
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointRGBNormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index, unsigned char r, unsigned char g, unsigned char b)</td></tr>
<tr class="memdesc:ga675b84c6a6edde91883e38f49c087f31"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZRGBNormal</code>. <br /></td></tr>
<tr class="separator:ga675b84c6a6edde91883e38f49c087f31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gab69062f7ffd0f2192983c6d7afa4a171" id="r_gab69062f7ffd0f2192983c6d7afa4a171"><td class="memItemLeft" align="right" valign="top"><a id="gab69062f7ffd0f2192983c6d7afa4a171" name="gab69062f7ffd0f2192983c6d7afa4a171"></a>
pcl::PointXYZINormal RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::laserScanToPointINormal</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;laserScan, int index, float intensity)</td></tr>
<tr class="memdesc:gab69062f7ffd0f2192983c6d7afa4a171"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point at <code>index</code> of the scan, as <code>PointXYZINormal</code>. <br /></td></tr>
<tr class="separator:gab69062f7ffd0f2192983c6d7afa4a171"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Functions to convert <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> data to various PCL point cloud formats. </p>
<p>These functions convert an instance of <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">rtabmap::LaserScan</a> to different PCL point cloud types, optionally applying a spatial transform. Missing data such as RGB and intensity are handled with default values. If the input <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> doesn't have normals but the output does, the normals are set to zeros.</p>
<p><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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