Transform PCL Point Clouds

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

Functions
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointXYZ point cloud type.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointXYZI point cloud type.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointXYZRGB point cloud type.
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointNormal point cloud type.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointXYZRGBNormal point cloud type.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Transform &transform)
	Transforms pcl::PointXYZINormal point cloud type.
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointXYZ point cloud type with specified indices.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointXYZI point cloud type with specified indices.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointXYZRGB point cloud type with specified indices.
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointNormal point cloud type with specified indices.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointXYZRGBNormal point cloud type with specified indices.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
	Transforms pcl::PointXYZINormal point cloud type with specified indices.

Detailed Description

Transforms various PCL point cloud types using the given transform.

• For types with normals, the normals are transformed appriopriatly.
• If indices are provided, the returned point cloud contains only points matching the indices.

Parameters

cloud	The input point cloud.
indices	Optional subset of indices of the points to transform.
transform	The transform to apply.

Returns

A new point cloud with the transform applied.