transforms.h File Reference

#include <sensor_msgs/PointCloud2.h>
#include <pcl/registration/transforms.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

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Namespaces
namespace	pcl_ros
Functions
void	pcl_ros::transformAsMatrix (const tf::Transform &bt, Eigen::Matrix4f &out_mat)
	Obtain the transformation matrix from TF into an Eigen form.
void	pcl_ros::transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
	Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.
void	pcl_ros::transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
	Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
bool	pcl_ros::transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
	Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
template<typename PointT >
bool	pcl_ros::transformPointCloud (const std::string &target_frame, const ros::Time &target_time, const pcl::PointCloud< PointT > &cloud_in, const std::string &fixed_frame, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener.
template<typename PointT >
bool	pcl_ros::transformPointCloud (const std::string &target_frame, const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener.
template<typename PointT >
void	pcl_ros::transformPointCloud (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::Transform &transform)
	Apply a rigid transform defined by a 3D offset and a quaternion.
template<typename PointT >
bool	pcl_ros::transformPointCloudWithNormals (const std::string &target_frame, const ros::Time &target_time, const pcl::PointCloud< PointT > &cloud_in, const std::string &fixed_frame, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener.
template<typename PointT >
bool	pcl_ros::transformPointCloudWithNormals (const std::string &target_frame, const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener.
template<typename PointT >
void	pcl_ros::transformPointCloudWithNormals (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::Transform &transform)
	Transform a point cloud and rotate its normals using an Eigen transform.