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
}
 

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
 
float & field (unsigned int pointIndex, unsigned int channelOffset)
 
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 LaserScan &data, int maxPoints, float maxRange, 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())
 
 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
 
LaserScan operator+ (const LaserScan &)
 
LaserScan & operator+= (const LaserScan &)
 
float rangeMax () const
 
float rangeMin () const
 
 RTABMAP_DEPRECATED (LaserScan(const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity()), "Use version without \ormat\argument.")
 
 RTABMAP_DEPRECATED (LaserScan(const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity()), "Use version without \ormat\argument.")
 
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 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 

Definition at line 40 of file LaserScan.h.

Constructor & Destructor Documentation

◆ LaserScan() [1/5]

rtabmap::LaserScan::LaserScan ( )

Definition at line 200 of file LaserScan.cpp.

◆ LaserScan() [2/5]

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

Definition at line 212 of file LaserScan.cpp.

◆ LaserScan() [3/5]

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

Definition at line 232 of file LaserScan.cpp.

◆ LaserScan() [4/5]

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

Definition at line 242 of file LaserScan.cpp.

◆ LaserScan() [5/5]

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 268 of file LaserScan.cpp.

Member Function Documentation

◆ angleIncrement()

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

Definition at line 121 of file LaserScan.h.

◆ angleMax()

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

Definition at line 120 of file LaserScan.h.

◆ angleMin()

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

Definition at line 119 of file LaserScan.h.

◆ backwardCompatibility() [1/2]

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.

◆ backwardCompatibility() [2/2]

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 161 of file LaserScan.cpp.

◆ channels() [1/2]

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

Definition at line 75 of file LaserScan.cpp.

◆ channels() [2/2]

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

Definition at line 115 of file LaserScan.h.

◆ clear()

void rtabmap::LaserScan::clear ( )
inline

Definition at line 141 of file LaserScan.h.

◆ clone()

LaserScan rtabmap::LaserScan::clone ( ) const

Definition at line 360 of file LaserScan.cpp.

◆ data()

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

Definition at line 112 of file LaserScan.h.

◆ dataType()

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

Definition at line 127 of file LaserScan.h.

◆ empty()

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

Definition at line 124 of file LaserScan.h.

◆ field()

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

Definition at line 369 of file LaserScan.cpp.

◆ format()

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

Definition at line 113 of file LaserScan.h.

◆ formatName() [1/2]

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

Definition at line 34 of file LaserScan.cpp.

◆ formatName() [2/2]

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

Definition at line 114 of file LaserScan.h.

◆ getIntensityOffset()

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

Definition at line 135 of file LaserScan.h.

◆ getNormalsOffset()

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

Definition at line 137 of file LaserScan.h.

◆ getRGBOffset()

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

Definition at line 136 of file LaserScan.h.

◆ hasIntensity()

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

Definition at line 131 of file LaserScan.h.

◆ hasNormals()

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

Definition at line 129 of file LaserScan.h.

◆ hasRGB()

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

Definition at line 130 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 281 of file LaserScan.cpp.

◆ is2d()

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

Definition at line 128 of file LaserScan.h.

◆ isCompressed()

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

Definition at line 132 of file LaserScan.h.

◆ isEmpty()

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

Definition at line 125 of file LaserScan.h.

◆ isScan2d()

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

Definition at line 108 of file LaserScan.cpp.

◆ isScanHasIntensity()

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

Definition at line 120 of file LaserScan.cpp.

◆ isScanHasNormals()

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

Definition at line 112 of file LaserScan.cpp.

◆ isScanHasRGB()

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

Definition at line 116 of file LaserScan.cpp.

◆ localTransform()

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

Definition at line 122 of file LaserScan.h.

◆ maxPoints()

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

Definition at line 116 of file LaserScan.h.

◆ operator+()

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

Concatenate scan's data, localTransform is ignored.

Definition at line 382 of file LaserScan.cpp.

◆ operator+=()

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

Concatenate scan's data, localTransform is ignored.

Definition at line 376 of file LaserScan.cpp.

◆ rangeMax()

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

Definition at line 118 of file LaserScan.h.

◆ rangeMin()

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

Definition at line 117 of file LaserScan.h.

◆ RTABMAP_DEPRECATED() [1/2]

rtabmap::LaserScan::RTABMAP_DEPRECATED ( LaserScan(const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())  ,
"Use version without \mat\gument."   
)

◆ RTABMAP_DEPRECATED() [2/2]

rtabmap::LaserScan::RTABMAP_DEPRECATED ( LaserScan(const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())  ,
"Use version without \mat\gument."   
)

◆ size()

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

Definition at line 126 of file LaserScan.h.

Member Data Documentation

◆ angleIncrement_

float rtabmap::LaserScan::angleIncrement_
private

Definition at line 171 of file LaserScan.h.

◆ angleMax_

float rtabmap::LaserScan::angleMax_
private

Definition at line 170 of file LaserScan.h.

◆ angleMin_

float rtabmap::LaserScan::angleMin_
private

Definition at line 169 of file LaserScan.h.

◆ data_

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

Definition at line 164 of file LaserScan.h.

◆ format_

Format rtabmap::LaserScan::format_
private

Definition at line 165 of file LaserScan.h.

◆ localTransform_

Transform rtabmap::LaserScan::localTransform_
private

Definition at line 172 of file LaserScan.h.

◆ maxPoints_

int rtabmap::LaserScan::maxPoints_
private

Definition at line 166 of file LaserScan.h.

◆ rangeMax_

float rtabmap::LaserScan::rangeMax_
private

Definition at line 168 of file LaserScan.h.

◆ rangeMin_

float rtabmap::LaserScan::rangeMin_
private

Definition at line 167 of file LaserScan.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00