#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
void	clear ()

LaserScan	clone () const

const cv::Mat &	data () const

int	dataType () const

Format	format () 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())

Transform	localTransform () const

int	maxPoints () const

float	maxRange () 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 int	channels (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
cv::Mat	data_

Format	format_

Transform	localTransform_

int	maxPoints_

float	maxRange_

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 116 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 124 of file LaserScan.cpp.

Member Function Documentation

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

static

Definition at line 84 of file LaserScan.cpp.

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

static

Definition at line 34 of file LaserScan.cpp.

void rtabmap::LaserScan::clear ( )

inline

Definition at line 83 of file LaserScan.h.

LaserScan rtabmap::LaserScan::clone ( ) const

inline

Definition at line 77 of file LaserScan.h.

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

inline

Definition at line 63 of file LaserScan.h.

int rtabmap::LaserScan::dataType ( ) const

inline

Definition at line 71 of file LaserScan.h.

Format rtabmap::LaserScan::format ( ) const

inline

Definition at line 66 of file LaserScan.h.

int rtabmap::LaserScan::getIntensityOffset ( ) const

inline

Definition at line 79 of file LaserScan.h.

int rtabmap::LaserScan::getNormalsOffset ( ) const

inline

Definition at line 81 of file LaserScan.h.

int rtabmap::LaserScan::getRGBOffset ( ) const

inline

Definition at line 80 of file LaserScan.h.

bool rtabmap::LaserScan::hasIntensity ( ) const

inline

Definition at line 75 of file LaserScan.h.

bool rtabmap::LaserScan::hasNormals ( ) const

inline

Definition at line 73 of file LaserScan.h.

bool rtabmap::LaserScan::hasRGB ( ) const

inline

Definition at line 74 of file LaserScan.h.

bool rtabmap::LaserScan::is2d ( ) const

inline

Definition at line 72 of file LaserScan.h.

bool rtabmap::LaserScan::isCompressed ( ) const

inline

Definition at line 76 of file LaserScan.h.

bool rtabmap::LaserScan::isEmpty ( ) const

inline

Definition at line 69 of file LaserScan.h.

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

static

Definition at line 67 of file LaserScan.cpp.

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

static

Definition at line 79 of file LaserScan.cpp.

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

static

Definition at line 71 of file LaserScan.cpp.

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

static

Definition at line 75 of file LaserScan.cpp.

Transform rtabmap::LaserScan::localTransform ( ) const

inline

Definition at line 67 of file LaserScan.h.

int rtabmap::LaserScan::maxPoints ( ) const

inline

Definition at line 64 of file LaserScan.h.

float rtabmap::LaserScan::maxRange ( ) const

inline

Definition at line 65 of file LaserScan.h.

int rtabmap::LaserScan::size ( ) const

inline

Definition at line 70 of file LaserScan.h.

Member Data Documentation

cv::Mat rtabmap::LaserScan::data_

private

Definition at line 86 of file LaserScan.h.

Format rtabmap::LaserScan::format_

private

Definition at line 89 of file LaserScan.h.

Transform rtabmap::LaserScan::localTransform_

private

Definition at line 90 of file LaserScan.h.

int rtabmap::LaserScan::maxPoints_

private

Definition at line 87 of file LaserScan.h.

float rtabmap::LaserScan::maxRange_

private

Definition at line 88 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