LaserScan to PCL

Functions to convert LaserScan data to various PCL point cloud formats. More...

Functions
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloud2 (const LaserScan &laserScan, const Transform &transform=Transform())
	Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::Format)
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform())
	LaserScan → PointXYZ (x, y, z); any other field of the scan is dropped.
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform())
	LaserScan → PointNormal (x, y, z, nx, ny, nz); normals are zeroed if the scan has none.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
	LaserScan → PointXYZRGB (x, y, z, rgb); r, g and b are used if the scan has no color.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
	LaserScan → PointXYZI (x, y, z, intensity); intensity is used if the scan has none.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
	LaserScan → PointXYZRGBNormal (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as above.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
	LaserScan → PointXYZINormal (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above.
pcl::PointXYZ RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPoint (const LaserScan &laserScan, int index)
	The point at index of the scan, as PointXYZ.
pcl::PointNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointNormal (const LaserScan &laserScan, int index)
	The point at index of the scan, as PointNormal.
pcl::PointXYZRGB RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
	The point at index of the scan, as PointXYZRGB.
pcl::PointXYZI RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointI (const LaserScan &laserScan, int index, float intensity)
	The point at index of the scan, as PointXYZI.
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
	The point at index of the scan, as PointXYZRGBNormal.
pcl::PointXYZINormal RTABMAP_CORE_EXPORT	rtabmap::util3d::laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity)
	The point at index of the scan, as PointXYZINormal.

Detailed Description

Functions to convert LaserScan data to various PCL point cloud formats.

These functions convert an instance of rtabmap::LaserScan to different PCL point cloud types, optionally applying a spatial transform. Missing data such as RGB and intensity are handled with default values. If the input LaserScan is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input LaserScan doesn't have normals but the output does, the normals are set to zeros.

laserScanToPoint() functions convert a single point from the LaserScan at the specificied index.