pcl: transforms.h Source File

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00036 #ifndef PCL_TRANSFORMS_H_
00037 #define PCL_TRANSFORMS_H_
00038 
00039 #include <pcl/point_cloud.h>
00040 #include <pcl/point_types.h>
00041 #include <pcl/common/centroid.h>
00042 #include <pcl/common/eigen.h>
00043 
00044 namespace pcl
00045 {
00053   template <typename PointT> void 
00054   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00055                        pcl::PointCloud<PointT> &cloud_out, 
00056                        const Eigen::Affine3f &transform);
00057 
00066   template <typename PointT> void 
00067   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00068                        const std::vector<int> &indices, 
00069                        pcl::PointCloud<PointT> &cloud_out, 
00070                        const Eigen::Affine3f &transform);
00071 
00078   template <typename PointT> void 
00079   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00080                                   pcl::PointCloud<PointT> &cloud_out, 
00081                                   const Eigen::Affine3f &transform);
00082 
00090   template <typename PointT> void 
00091   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00092                        pcl::PointCloud<PointT> &cloud_out, 
00093                        const Eigen::Matrix4f &transform);
00094 
00102   template <typename PointT> void 
00103   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00104                                   pcl::PointCloud<PointT> &cloud_out, 
00105                                   const Eigen::Matrix4f &transform);
00106 
00114   template <typename PointT> inline void 
00115   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00116                        pcl::PointCloud<PointT> &cloud_out, 
00117                        const Eigen::Vector3f &offset, 
00118                        const Eigen::Quaternionf &rotation);
00119 
00127   template <typename PointT> inline void 
00128   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00129                                   pcl::PointCloud<PointT> &cloud_out, 
00130                                   const Eigen::Vector3f &offset, 
00131                                   const Eigen::Quaternionf &rotation);
00138   template <typename PointT> inline PointT
00139   transformPoint (const PointT &point, const Eigen::Affine3f &transform);
00140   
00141 }
00142 
00143 #include <pcl/common/impl/transforms.hpp>
00144 
00145 #endif // PCL_TRANSFORMS_H_