Represents 2D or 3D laser scan data with support for multiple point data formats. More...

#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 , kXYZIRT =12 }
	Enumeration of possible formats for laser scan data. More...

Public Member Functions
Constructors
	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())

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

Accessors
const cv::Mat &	data () const

Format	format () const

std::string	formatName () const

int	channels () const

int	maxPoints () const

float	rangeMin () const

float	rangeMax () const

float	angleMin () const

float	angleMax () const

float	angleIncrement () const

void	setLocalTransform (const Transform &t)

Transform	localTransform () const

Status and Format Checks
bool	empty () const

bool	isEmpty () const

int	size () const

int	dataType () const

bool	is2d () const

bool	hasNormals () const

bool	hasRGB () const

bool	hasIntensity () const

bool	hasTime () const

bool	hasRing () const

bool	isCompressed () const
	True if the scan is stored compressed (single-row `CV_8UC1` blob) instead of raw points.

bool	isOrganized () const

LaserScan	clone () const

LaserScan	densify () const

Operations
int	getIntensityOffset () const

int	getRGBOffset () const

int	getNormalsOffset () const

int	getRingOffset () const

int	getTimeOffset () const

float &	field (unsigned int pointIndex, unsigned int channelOffset)
	Access a specific field value of a point.

void	clear ()
	Clear the scan data.

LaserScan &	operator+= (const LaserScan &)
	Concatenate scan's data (localTransform is ignored).

LaserScan	operator+ (const LaserScan &)
	Concatenate scan's data (localTransform is ignored).

Static Public Member Functions
Static Utility Functions
static std::string	formatName (const Format &format)

static int	channels (const Format &format)

static bool	isScan2d (const Format &format)

static bool	isScanHasNormals (const Format &format)

static bool	isScanHasRGB (const Format &format)

static bool	isScanHasIntensity (const Format &format)

static bool	isScanHasTime (const Format &format)

static bool	isScanHasRing (const Format &format)

static float	packRGB (unsigned char r, unsigned char g, unsigned char b)

static void	unpackRGB (float rgb, unsigned char &r, unsigned char &g, unsigned char &b)

static LaserScan	backwardCompatibility (const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
	Converts legacy scan format to a LaserScan object.

static LaserScan	backwardCompatibility (const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())
	Converts legacy scan format with additional metadata to a LaserScan.

Detailed Description

Represents 2D or 3D laser scan data with support for multiple point data formats.

The LaserScan class stores structured laser scan data used in SLAM, mapping, and perception. It supports various formats including point coordinates, intensity, normals, RGB colors, and timestamps. Utility methods are provided for format checking, cloning, and combining scans.

Definition at line 45 of file LaserScan.h.

Member Enumeration Documentation

◆ Format

enum rtabmap::LaserScan::Format

Enumeration of possible formats for laser scan data.

These values represent different combinations of point attributes that can be stored in a laser scan. The format determines how each point in the scan is structured.

Enumerator
kUnknown	Unknown format.
kXY	2D points with X and Y coordinates.
kXYI	2D points with X, Y and intensity.
kXYNormal	2D points with X, Y and normal vectors.
kXYINormal	2D points with X, Y, intensity and normal vectors.
kXYZ	3D points with X, Y and Z coordinates.
kXYZI	3D points with X, Y, Z and intensity.
kXYZRGB	3D points with X, Y, Z and RGB color.
kXYZNormal	3D points with X, Y, Z and normal vectors.
kXYZINormal	3D points with X, Y, Z, intensity and normal vectors.
kXYZRGBNormal	3D points with X, Y, Z, RGB color and normal vectors.
kXYZIT	3D points with X, Y, Z, intensity and time.
kXYZIRT	3D points with X, Y, Z, intensity, ring and time.

Definition at line 55 of file LaserScan.h.

Constructor & Destructor Documentation

◆ LaserScan() [1/2]

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

Deprecated:: Use constructor without format argument.

◆ LaserScan() [2/2]

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

Deprecated:: Use constructor without format argument.

Member Function Documentation

◆ data()

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

inline

Definition at line 156 of file LaserScan.h.

◆ format()

Format rtabmap::LaserScan::format ( ) const

inline

Definition at line 157 of file LaserScan.h.

◆ formatName()

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

inline

Definition at line 158 of file LaserScan.h.

◆ channels()

int rtabmap::LaserScan::channels ( ) const

inline

Definition at line 159 of file LaserScan.h.

◆ maxPoints()

int rtabmap::LaserScan::maxPoints ( ) const

inline

Definition at line 160 of file LaserScan.h.

◆ rangeMin()

float rtabmap::LaserScan::rangeMin ( ) const

inline

Definition at line 161 of file LaserScan.h.

◆ rangeMax()

float rtabmap::LaserScan::rangeMax ( ) const

inline

Definition at line 162 of file LaserScan.h.

◆ angleMin()

float rtabmap::LaserScan::angleMin ( ) const

inline

Definition at line 163 of file LaserScan.h.

◆ angleMax()

float rtabmap::LaserScan::angleMax ( ) const

inline

Definition at line 164 of file LaserScan.h.

◆ angleIncrement()

float rtabmap::LaserScan::angleIncrement ( ) const

inline

Definition at line 165 of file LaserScan.h.

◆ setLocalTransform()

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

inline

Definition at line 166 of file LaserScan.h.

◆ localTransform()

Transform rtabmap::LaserScan::localTransform ( ) const

inline

Definition at line 167 of file LaserScan.h.

◆ empty()

bool rtabmap::LaserScan::empty ( ) const

inline

Definition at line 172 of file LaserScan.h.

◆ isEmpty()

bool rtabmap::LaserScan::isEmpty ( ) const

inline

Definition at line 173 of file LaserScan.h.

◆ size()

int rtabmap::LaserScan::size ( ) const

inline

Definition at line 174 of file LaserScan.h.

◆ dataType()

int rtabmap::LaserScan::dataType ( ) const

inline

Definition at line 175 of file LaserScan.h.

◆ is2d()

bool rtabmap::LaserScan::is2d ( ) const

inline

Definition at line 176 of file LaserScan.h.

◆ hasNormals()

bool rtabmap::LaserScan::hasNormals ( ) const

inline

Definition at line 177 of file LaserScan.h.

◆ hasRGB()

bool rtabmap::LaserScan::hasRGB ( ) const

inline

Definition at line 178 of file LaserScan.h.

◆ hasIntensity()

bool rtabmap::LaserScan::hasIntensity ( ) const

inline

Definition at line 179 of file LaserScan.h.

◆ hasTime()

bool rtabmap::LaserScan::hasTime ( ) const

inline

Definition at line 180 of file LaserScan.h.

◆ hasRing()

bool rtabmap::LaserScan::hasRing ( ) const

inline

Definition at line 181 of file LaserScan.h.

◆ isCompressed()

bool rtabmap::LaserScan::isCompressed ( ) const

inline

True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.

Definition at line 183 of file LaserScan.h.

◆ isOrganized()

bool rtabmap::LaserScan::isOrganized ( ) const

inline

Definition at line 184 of file LaserScan.h.

◆ getIntensityOffset()

int rtabmap::LaserScan::getIntensityOffset ( ) const

inline

Definition at line 191 of file LaserScan.h.

◆ getRGBOffset()

int rtabmap::LaserScan::getRGBOffset ( ) const

inline

Definition at line 192 of file LaserScan.h.

◆ getNormalsOffset()

int rtabmap::LaserScan::getNormalsOffset ( ) const

inline

Definition at line 193 of file LaserScan.h.

◆ getRingOffset()

int rtabmap::LaserScan::getRingOffset ( ) const

inline

Definition at line 194 of file LaserScan.h.

◆ getTimeOffset()

int rtabmap::LaserScan::getTimeOffset ( ) const

inline

Definition at line 195 of file LaserScan.h.

◆ field()

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

Access a specific field value of a point.

Parameters

pointIndex	Index of the point.
channelOffset	Channel offset to access (e.g., 0=X, 1=Y, 2=Z if 2D, for other fields, use corresponding getter functions).

Returns: Reference to the field value.

See also: getIntensityOffset() getRGBOffset() getNormalsOffset() getTimeOffset()

◆ clear()

void rtabmap::LaserScan::clear ( )

inline

Clear the scan data.

Definition at line 209 of file LaserScan.h.

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

corelib/include/rtabmap/core/LaserScan.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Format

Constructor & Destructor Documentation

◆ LaserScan() [1/2]

◆ LaserScan() [2/2]

Member Function Documentation

◆ data()

◆ format()

◆ formatName()

◆ channels()

◆ maxPoints()

◆ rangeMin()

◆ rangeMax()

◆ angleMin()

◆ angleMax()

◆ angleIncrement()

◆ setLocalTransform()

◆ localTransform()

◆ empty()

◆ isEmpty()

◆ size()

◆ dataType()

◆ is2d()

◆ hasNormals()

◆ hasRGB()

◆ hasIntensity()

◆ hasTime()

◆ hasRing()

◆ isCompressed()

◆ isOrganized()

◆ getIntensityOffset()

◆ getRGBOffset()

◆ getNormalsOffset()

◆ getRingOffset()

◆ getTimeOffset()

◆ field()

◆ clear()