Transform a single point

Transforms various point types using the given transform. More...

Functions
cv::Point3f RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const cv::Point3f &pt, const Transform &transform)
	Transforms cv::Point3f point type.
cv::Point3d RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const cv::Point3d &pt, const Transform &transform)
	Transforms cv::Point3d point type.
pcl::PointXYZ RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointXYZ &pt, const Transform &transform)
	Transforms pcl::PointXYZ point type.
pcl::PointXYZI RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointXYZI &pt, const Transform &transform)
	Transforms pcl::PointXYZI point type.
pcl::PointXYZRGB RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointXYZRGB &pt, const Transform &transform)
	Transforms pcl::PointXYZRGB point type.
pcl::PointNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointNormal &point, const Transform &transform)
	Transforms pcl::PointNormal point type.
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointXYZRGBNormal &point, const Transform &transform)
	Transforms pcl::PointXYZRGBNormal point type.
pcl::PointXYZINormal RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPoint (const pcl::PointXYZINormal &point, const Transform &transform)
	Transforms pcl::PointXYZINormal point type.

Detailed Description

Transforms various point types using the given transform.

• For types with normal, the normal is transformed appriopriatly.

Parameters

pt	The input point.
transform	The transform to apply.

Returns

A new point with the transform applied.