#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::Mat &	data () const

int	dataType () const

LaserScan	densify () const

bool	empty () const

float &	field (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 &)

LaserScan &	operator+= (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

enum rtabmap::LaserScan::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:

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Format

Constructor & Destructor Documentation

◆ LaserScan() [1/7]

◆ LaserScan() [2/7]

◆ LaserScan() [3/7]

◆ LaserScan() [4/7]

◆ LaserScan() [5/7]

◆ LaserScan() [6/7]

◆ LaserScan() [7/7]

Member Function Documentation

◆ angleIncrement()

◆ angleMax()

◆ angleMin()

◆ backwardCompatibility() [1/2]

◆ backwardCompatibility() [2/2]

◆ channels() [1/2]

◆ channels() [2/2]

◆ clear()

◆ clone()

◆ data()

◆ dataType()

◆ densify()

◆ empty()

◆ field()

◆ format()

◆ formatName() [1/2]

◆ formatName() [2/2]

◆ getIntensityOffset()

◆ getNormalsOffset()

◆ getRGBOffset()

◆ getTimeOffset()

◆ hasIntensity()

◆ hasNormals()

◆ hasRGB()

◆ hasTime()

◆ init()

◆ is2d()

◆ isCompressed()

◆ isEmpty()

◆ isOrganized()

◆ isScan2d()

◆ isScanHasIntensity()

◆ isScanHasNormals()

◆ isScanHasRGB()

◆ isScanHasTime()

◆ localTransform()

◆ maxPoints()

◆ operator+()

◆ operator+=()

◆ rangeMax()

◆ rangeMin()

◆ setLocalTransform()

◆ size()

Member Data Documentation

◆ angleIncrement_

◆ angleMax_

◆ angleMin_

◆ data_

◆ format_

◆ localTransform_

◆ maxPoints_

◆ rangeMax_

◆ rangeMin_