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

Functions
LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZ` → (x, y, z) → LaserScan::kXYZ

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZ` → (x, y, z) → LaserScan::kXYZ

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointNormal` → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointNormal` → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointNormal` → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZRGB` → (x, y, z, rgb) → LaserScan::kXYZRGB

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZRGB` → (x, y, z, rgb) → LaserScan::kXYZRGB

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZI` → (x, y, z, intensity) → LaserScan::kXYZI

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZI` → (x, y, z, intensity) → LaserScan::kXYZI

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`rtabmap::PointXYZIRT` → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`rtabmap::PointXYZIRT` → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZRGBNormal` → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZRGBNormal` → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZRGBNormal` → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZINormal` → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZINormal` → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal

LaserScan RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
	`pcl::PointXYZINormal` → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal

template<typename PointCloud2T >
LaserScan	rtabmap::util3d::laserScanFromPointCloud (const PointCloud2T &cloud, bool filterNaNs=true, bool is2D=false, const Transform &transform=Transform())
	Convert `pcl::PCLPointCloud2` to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::Format)

Detailed Description

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

These functions extract laser scan data from 3D point clouds, optionally applying a transform and filtering invalid points. Depending on the input type, output data may include position (x, y, z), intensity, color, and/or surface normals.

Supported input types and corresponding output data:

pcl::PointXYZ → (x, y, z) → LaserScan::kXYZ
pcl::PointXYZRGB → (x, y, z, rgb) → LaserScan::kXYZRGB
pcl::PointXYZI → (x, y, z, intensity) → LaserScan::kXYZI
pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
Combined point + normal cloud also supported.

Parameters

cloud	The input PCL point cloud.
indices	Optional subset of indices to use from the point cloud.
normals	Optional normal cloud if not included in point type.
transform	Optional rigid body transform to apply to the points.
filterNaNs	Whether to ignore invalid or NaN points.

Returns: A LaserScan object containing scan data in appropriate format.

See also: laserScan2dFromPointCloud() for 2D-only extraction.

Function Documentation

◆ laserScanFromPointCloud()

template<typename PointCloud2T >

LaserScan rtabmap::util3d::laserScanFromPointCloud	(	const PointCloud2T &	cloud,
		bool	filterNaNs,
		bool	is2D,
		const Transform &	transform
	)

Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::Format)

Definition at line 37 of file util3d.hpp.

Functions

Detailed Description

Supported input types and corresponding output data:

Function Documentation

◆ laserScanFromPointCloud()