#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 }

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

bool	empty () const

Format	format () const

std::string	formatName () const

int	getIntensityOffset () const

int	getNormalsOffset () const

int	getRGBOffset () const

bool	hasIntensity () const

bool	hasNormals () const

bool	hasRGB () const

bool	is2d () const

bool	isCompressed () const

bool	isEmpty () const

	LaserScan ()

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

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

Transform	localTransform () const

int	maxPoints () const

float	rangeMax () const

float	rangeMin () const

int	size () const

Static Public Member Functions
static LaserScan	backwardCompatibility (const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())

static LaserScan	backwardCompatibility (const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, 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)

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

enum rtabmap::LaserScan::Format

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

Definition at line 40 of file LaserScan.h.

Constructor & Destructor Documentation

rtabmap::LaserScan::LaserScan ( )

Definition at line 200 of file LaserScan.cpp.

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

Definition at line 212 of file LaserScan.cpp.

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 250 of file LaserScan.cpp.

Member Function Documentation

float rtabmap::LaserScan::angleIncrement ( ) const

inline

Definition at line 97 of file LaserScan.h.

float rtabmap::LaserScan::angleMax ( ) const

inline

Definition at line 96 of file LaserScan.h.

float rtabmap::LaserScan::angleMin ( ) const

inline

Definition at line 95 of file LaserScan.h.

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

static

Definition at line 125 of file LaserScan.cpp.

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 161 of file LaserScan.cpp.

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

static

Definition at line 75 of file LaserScan.cpp.

int rtabmap::LaserScan::channels ( ) const

inline

Definition at line 91 of file LaserScan.h.

void rtabmap::LaserScan::clear ( )

inline

Definition at line 115 of file LaserScan.h.

LaserScan rtabmap::LaserScan::clone ( ) const

Definition at line 302 of file LaserScan.cpp.

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

inline

Definition at line 88 of file LaserScan.h.

int rtabmap::LaserScan::dataType ( ) const

inline

Definition at line 103 of file LaserScan.h.

bool rtabmap::LaserScan::empty ( ) const

inline

Definition at line 100 of file LaserScan.h.

Format rtabmap::LaserScan::format ( ) const

inline

Definition at line 89 of file LaserScan.h.

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

static

Definition at line 34 of file LaserScan.cpp.

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

inline

Definition at line 90 of file LaserScan.h.

int rtabmap::LaserScan::getIntensityOffset ( ) const

inline

Definition at line 111 of file LaserScan.h.

int rtabmap::LaserScan::getNormalsOffset ( ) const

inline

Definition at line 113 of file LaserScan.h.

int rtabmap::LaserScan::getRGBOffset ( ) const

inline

Definition at line 112 of file LaserScan.h.

bool rtabmap::LaserScan::hasIntensity ( ) const

inline

Definition at line 107 of file LaserScan.h.

bool rtabmap::LaserScan::hasNormals ( ) const

inline

Definition at line 105 of file LaserScan.h.

bool rtabmap::LaserScan::hasRGB ( ) const

inline

Definition at line 106 of file LaserScan.h.

bool rtabmap::LaserScan::is2d ( ) const

inline

Definition at line 104 of file LaserScan.h.

bool rtabmap::LaserScan::isCompressed ( ) const

inline

Definition at line 108 of file LaserScan.h.

bool rtabmap::LaserScan::isEmpty ( ) const

inline

Definition at line 101 of file LaserScan.h.

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

static

Definition at line 108 of file LaserScan.cpp.

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

static

Definition at line 120 of file LaserScan.cpp.

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

static

Definition at line 112 of file LaserScan.cpp.

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

static

Definition at line 116 of file LaserScan.cpp.

Transform rtabmap::LaserScan::localTransform ( ) const

inline

Definition at line 98 of file LaserScan.h.

int rtabmap::LaserScan::maxPoints ( ) const

inline

Definition at line 92 of file LaserScan.h.

float rtabmap::LaserScan::rangeMax ( ) const

inline

Definition at line 94 of file LaserScan.h.

float rtabmap::LaserScan::rangeMin ( ) const

inline

Definition at line 93 of file LaserScan.h.

int rtabmap::LaserScan::size ( ) const

inline

Definition at line 102 of file LaserScan.h.

Member Data Documentation

float rtabmap::LaserScan::angleIncrement_

private

Definition at line 125 of file LaserScan.h.

float rtabmap::LaserScan::angleMax_

private

Definition at line 124 of file LaserScan.h.

float rtabmap::LaserScan::angleMin_

private

Definition at line 123 of file LaserScan.h.

cv::Mat rtabmap::LaserScan::data_

private

Definition at line 118 of file LaserScan.h.

Format rtabmap::LaserScan::format_

private

Definition at line 119 of file LaserScan.h.

Transform rtabmap::LaserScan::localTransform_

private

Definition at line 126 of file LaserScan.h.

int rtabmap::LaserScan::maxPoints_

private

Definition at line 120 of file LaserScan.h.

float rtabmap::LaserScan::rangeMax_

private

Definition at line 122 of file LaserScan.h.

float rtabmap::LaserScan::rangeMin_

private

Definition at line 121 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 Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation