Function lvr2::transformPointCloudAndAppend

• Defined in File IOUtils.hpp

Function Documentation

void lvr2::transformPointCloudAndAppend(PointBufferPtr &buffer, boost::filesystem::path &transfromFile, std::vector<float> &pts, std::vector<float> &nrm)

Transforms the given point buffer according to the transformation stored in transformFile and appends the transformed points and normals to pts and nrm.

Parameters:

• buffer – A PointBuffer

• transformFile – The input file name. The fuction will search for transformation information (.pose or .frames)

• pts – The transformed points are added to this vector

• nrm – The transformed normals are added to this vector