PCL to 2D LaserScan

Converts various PCL point cloud types into a unified 2D LaserScan format. More...

Functions
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	PointXYZ → LaserScan::kXY
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	PointXYZI → LaserScan::kXYI (x, y, intensity)
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	PointNormal → LaserScan::kXYNormal (x, y, nx, ny, nz)
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
	PointXYZ + Normal → LaserScan::kXYNormal (x, y, nx, ny, nz)
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	PointXYZINormal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
	PointXYZI + Normal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)

Detailed Description

Converts various PCL point cloud types into a unified 2D LaserScan format.

Returns only XY data, with optional intensity and/or normals.

Output:

• PointXYZ → LaserScan::kXY
• PointXYZI → LaserScan::kXYI (x, y, intensity)
• PointNormal or PointXYZ + Normal → LaserScan::kXYNormal (x, y, nx, ny, nz)
• PointXYZINormal or PointXYZI + Normal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)

Parameters

cloud	The input cloud (2D assumed).
normals	Optional normal cloud.
transform	Optional transformation to apply.
filterNaNs	Whether to ignore invalid points.

Returns

A 2D LaserScan.

See also

laserScanFromPointCloud() for 3D extraction.