Public Types | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::LaserScan Class Reference

#include <LaserScan.h>

Public Types

enum  Format {
  kUnknown =0, kXY =1, kXYI =2, kXYNormal =3,
  kXYINormal =4, kXYZ =5, kXYZI =6, kXYZRGB =7,
  kXYZNormal =8, kXYZINormal =9, kXYZRGBNormal =10, kXYZIT =11
}
 

Public Member Functions

float angleIncrement () const
 
float angleMax () const
 
float angleMin () const
 
int channels () const
 
void clear ()
 
LaserScan clone () const
 
const cv::Matdata () const
 
int dataType () const
 
LaserScan densify () const
 
bool empty () const
 
floatfield (unsigned int pointIndex, unsigned int channelOffset)
 
Format format () const
 
std::string formatName () const
 
int getIntensityOffset () const
 
int getNormalsOffset () const
 
int getRGBOffset () const
 
int getTimeOffset () const
 
bool hasIntensity () const
 
bool hasNormals () const
 
bool hasRGB () const
 
bool hasTime () const
 
bool is2d () const
 
bool isCompressed () const
 
bool isEmpty () const
 
bool isOrganized () const
 
 LaserScan ()
 
 LaserScan (const cv::Mat &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
 LaserScan (const cv::Mat &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
 
 LaserScan (const LaserScan &data, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
RTABMAP_DEPRECATED LaserScan (const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
 LaserScan (const LaserScan &data, int maxPoints, float maxRange, const Transform &localTransform=Transform::getIdentity())
 
RTABMAP_DEPRECATED LaserScan (const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
 
Transform localTransform () const
 
int maxPoints () const
 
LaserScan operator+ (const LaserScan &)
 
LaserScanoperator+= (const LaserScan &)
 
float rangeMax () const
 
float rangeMin () const
 
void setLocalTransform (const Transform &t)
 
int size () const
 

Static Public Member Functions

static LaserScan backwardCompatibility (const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())
 
static LaserScan backwardCompatibility (const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
 
static int channels (const Format &format)
 
static std::string formatName (const Format &format)
 
static bool isScan2d (const Format &format)
 
static bool isScanHasIntensity (const Format &format)
 
static bool isScanHasNormals (const Format &format)
 
static bool isScanHasRGB (const Format &format)
 
static bool isScanHasTime (const Format &format)
 

Private Member Functions

void init (const cv::Mat &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, int maxPoints, const Transform &localTransform=Transform::getIdentity())
 

Private Attributes

float angleIncrement_
 
float angleMax_
 
float angleMin_
 
cv::Mat data_
 
Format format_
 
Transform localTransform_
 
int maxPoints_
 
float rangeMax_
 
float rangeMin_
 

Detailed Description

Definition at line 37 of file LaserScan.h.

Member Enumeration Documentation

◆ Format

Enumerator
kUnknown 
kXY 
kXYI 
kXYNormal 
kXYINormal 
kXYZ 
kXYZI 
kXYZRGB 
kXYZNormal 
kXYZINormal 
kXYZRGBNormal 
kXYZIT 

Definition at line 40 of file LaserScan.h.

Constructor & Destructor Documentation

◆ LaserScan() [1/7]

rtabmap::LaserScan::LaserScan ( )

Definition at line 208 of file LaserScan.cpp.

◆ LaserScan() [2/7]

rtabmap::LaserScan::LaserScan ( const LaserScan data,
int  maxPoints,
float  maxRange,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 220 of file LaserScan.cpp.

◆ LaserScan() [3/7]

rtabmap::LaserScan::LaserScan ( const LaserScan data,
int  maxPoints,
float  maxRange,
Format  format,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 237 of file LaserScan.cpp.

◆ LaserScan() [4/7]

rtabmap::LaserScan::LaserScan ( const cv::Mat data,
int  maxPoints,
float  maxRange,
Format  format,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 254 of file LaserScan.cpp.

◆ LaserScan() [5/7]

rtabmap::LaserScan::LaserScan ( const LaserScan data,
Format  format,
float  minRange,
float  maxRange,
float  angleMin,
float  angleMax,
float  angleIncrement,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 291 of file LaserScan.cpp.

◆ LaserScan() [6/7]

rtabmap::LaserScan::LaserScan ( const LaserScan data,
float  minRange,
float  maxRange,
float  angleMin,
float  angleMax,
float  angleIncrement,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 271 of file LaserScan.cpp.

◆ LaserScan() [7/7]

rtabmap::LaserScan::LaserScan ( const cv::Mat data,
Format  format,
float  minRange,
float  maxRange,
float  angleMin,
float  angleMax,
float  angleIncrement,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 311 of file LaserScan.cpp.

Member Function Documentation

◆ angleIncrement()

float rtabmap::LaserScan::angleIncrement ( ) const
inline

Definition at line 125 of file LaserScan.h.

◆ angleMax()

float rtabmap::LaserScan::angleMax ( ) const
inline

Definition at line 124 of file LaserScan.h.

◆ angleMin()

float rtabmap::LaserScan::angleMin ( ) const
inline

Definition at line 123 of file LaserScan.h.

◆ backwardCompatibility() [1/2]

LaserScan rtabmap::LaserScan::backwardCompatibility ( const cv::Mat oldScanFormat,
float  minRange,
float  maxRange,
float  angleMin,
float  angleMax,
float  angleInc,
const Transform localTransform = Transform::getIdentity() 
)
static

Definition at line 169 of file LaserScan.cpp.

◆ backwardCompatibility() [2/2]

LaserScan rtabmap::LaserScan::backwardCompatibility ( const cv::Mat oldScanFormat,
int  maxPoints = 0,
int  maxRange = 0,
const Transform localTransform = Transform::getIdentity() 
)
static

Definition at line 133 of file LaserScan.cpp.

◆ channels() [1/2]

int rtabmap::LaserScan::channels ( ) const
inline

Definition at line 119 of file LaserScan.h.

◆ channels() [2/2]

int rtabmap::LaserScan::channels ( const Format format)
static

Definition at line 78 of file LaserScan.cpp.

◆ clear()

void rtabmap::LaserScan::clear ( )
inline

Definition at line 150 of file LaserScan.h.

◆ clone()

LaserScan rtabmap::LaserScan::clone ( ) const

Definition at line 413 of file LaserScan.cpp.

◆ data()

const cv::Mat& rtabmap::LaserScan::data ( ) const
inline

Definition at line 116 of file LaserScan.h.

◆ dataType()

int rtabmap::LaserScan::dataType ( ) const
inline

Definition at line 132 of file LaserScan.h.

◆ densify()

LaserScan rtabmap::LaserScan::densify ( ) const

Definition at line 422 of file LaserScan.cpp.

◆ empty()

bool rtabmap::LaserScan::empty ( ) const
inline

Definition at line 129 of file LaserScan.h.

◆ field()

float & rtabmap::LaserScan::field ( unsigned int  pointIndex,
unsigned int  channelOffset 
)

Definition at line 446 of file LaserScan.cpp.

◆ format()

Format rtabmap::LaserScan::format ( ) const
inline

Definition at line 117 of file LaserScan.h.

◆ formatName() [1/2]

std::string rtabmap::LaserScan::formatName ( ) const
inline

Definition at line 118 of file LaserScan.h.

◆ formatName() [2/2]

std::string rtabmap::LaserScan::formatName ( const Format format)
static

Definition at line 34 of file LaserScan.cpp.

◆ getIntensityOffset()

int rtabmap::LaserScan::getIntensityOffset ( ) const
inline

Definition at line 143 of file LaserScan.h.

◆ getNormalsOffset()

int rtabmap::LaserScan::getNormalsOffset ( ) const
inline

Definition at line 145 of file LaserScan.h.

◆ getRGBOffset()

int rtabmap::LaserScan::getRGBOffset ( ) const
inline

Definition at line 144 of file LaserScan.h.

◆ getTimeOffset()

int rtabmap::LaserScan::getTimeOffset ( ) const
inline

Definition at line 146 of file LaserScan.h.

◆ hasIntensity()

bool rtabmap::LaserScan::hasIntensity ( ) const
inline

Definition at line 136 of file LaserScan.h.

◆ hasNormals()

bool rtabmap::LaserScan::hasNormals ( ) const
inline

Definition at line 134 of file LaserScan.h.

◆ hasRGB()

bool rtabmap::LaserScan::hasRGB ( ) const
inline

Definition at line 135 of file LaserScan.h.

◆ hasTime()

bool rtabmap::LaserScan::hasTime ( ) const
inline

Definition at line 137 of file LaserScan.h.

◆ init()

void rtabmap::LaserScan::init ( const cv::Mat data,
Format  format,
float  minRange,
float  maxRange,
float  angleMin,
float  angleMax,
float  angleIncrement,
int  maxPoints,
const Transform localTransform = Transform::getIdentity() 
)
private

Definition at line 331 of file LaserScan.cpp.

◆ is2d()

bool rtabmap::LaserScan::is2d ( ) const
inline

Definition at line 133 of file LaserScan.h.

◆ isCompressed()

bool rtabmap::LaserScan::isCompressed ( ) const
inline

Definition at line 138 of file LaserScan.h.

◆ isEmpty()

bool rtabmap::LaserScan::isEmpty ( ) const
inline

Definition at line 130 of file LaserScan.h.

◆ isOrganized()

bool rtabmap::LaserScan::isOrganized ( ) const
inline

Definition at line 139 of file LaserScan.h.

◆ isScan2d()

bool rtabmap::LaserScan::isScan2d ( const Format format)
static

Definition at line 112 of file LaserScan.cpp.

◆ isScanHasIntensity()

bool rtabmap::LaserScan::isScanHasIntensity ( const Format format)
static

Definition at line 124 of file LaserScan.cpp.

◆ isScanHasNormals()

bool rtabmap::LaserScan::isScanHasNormals ( const Format format)
static

Definition at line 116 of file LaserScan.cpp.

◆ isScanHasRGB()

bool rtabmap::LaserScan::isScanHasRGB ( const Format format)
static

Definition at line 120 of file LaserScan.cpp.

◆ isScanHasTime()

bool rtabmap::LaserScan::isScanHasTime ( const Format format)
static

Definition at line 128 of file LaserScan.cpp.

◆ localTransform()

Transform rtabmap::LaserScan::localTransform ( ) const
inline

Definition at line 127 of file LaserScan.h.

◆ maxPoints()

int rtabmap::LaserScan::maxPoints ( ) const
inline

Definition at line 120 of file LaserScan.h.

◆ operator+()

LaserScan rtabmap::LaserScan::operator+ ( const LaserScan scan)

Concatenate scan's data, localTransform is ignored.

Definition at line 460 of file LaserScan.cpp.

◆ operator+=()

LaserScan & rtabmap::LaserScan::operator+= ( const LaserScan scan)

Concatenate scan's data, localTransform is ignored.

Definition at line 454 of file LaserScan.cpp.

◆ rangeMax()

float rtabmap::LaserScan::rangeMax ( ) const
inline

Definition at line 122 of file LaserScan.h.

◆ rangeMin()

float rtabmap::LaserScan::rangeMin ( ) const
inline

Definition at line 121 of file LaserScan.h.

◆ setLocalTransform()

void rtabmap::LaserScan::setLocalTransform ( const Transform t)
inline

Definition at line 126 of file LaserScan.h.

◆ size()

int rtabmap::LaserScan::size ( ) const
inline

Definition at line 131 of file LaserScan.h.

Member Data Documentation

◆ angleIncrement_

float rtabmap::LaserScan::angleIncrement_
private

Definition at line 180 of file LaserScan.h.

◆ angleMax_

float rtabmap::LaserScan::angleMax_
private

Definition at line 179 of file LaserScan.h.

◆ angleMin_

float rtabmap::LaserScan::angleMin_
private

Definition at line 178 of file LaserScan.h.

◆ data_

cv::Mat rtabmap::LaserScan::data_
private

Definition at line 173 of file LaserScan.h.

◆ format_

Format rtabmap::LaserScan::format_
private

Definition at line 174 of file LaserScan.h.

◆ localTransform_

Transform rtabmap::LaserScan::localTransform_
private

Definition at line 181 of file LaserScan.h.

◆ maxPoints_

int rtabmap::LaserScan::maxPoints_
private

Definition at line 175 of file LaserScan.h.

◆ rangeMax_

float rtabmap::LaserScan::rangeMax_
private

Definition at line 177 of file LaserScan.h.

◆ rangeMin_

float rtabmap::LaserScan::rangeMin_
private

Definition at line 176 of file LaserScan.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27