28 #ifndef UTIL3D_TRANSFORMS_H_ 29 #define UTIL3D_TRANSFORMS_H_ 33 #include <pcl/point_cloud.h> 34 #include <pcl/point_types.h> 35 #include <pcl/pcl_base.h> 46 const LaserScan & laserScan,
47 const Transform & transform);
50 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
51 const Transform & transform);
53 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
54 const Transform & transform);
56 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
57 const Transform & transform);
59 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
60 const Transform & transform);
62 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
63 const Transform & transform);
65 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
66 const Transform & transform);
69 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
70 const pcl::IndicesPtr & indices,
71 const Transform & transform);
73 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
74 const pcl::IndicesPtr & indices,
75 const Transform & transform);
77 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
78 const pcl::IndicesPtr & indices,
79 const Transform & transform);
81 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
82 const pcl::IndicesPtr & indices,
83 const Transform & transform);
85 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
86 const pcl::IndicesPtr & indices,
87 const Transform & transform);
89 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
90 const pcl::IndicesPtr & indices,
91 const Transform & transform);
94 const cv::Point3f & pt,
95 const Transform & transform);
97 const pcl::PointXYZ & pt,
98 const Transform & transform);
100 const pcl::PointXYZI & pt,
101 const Transform & transform);
103 const pcl::PointXYZRGB & pt,
104 const Transform & transform);
106 const pcl::PointNormal & point,
107 const Transform & transform);
109 const pcl::PointXYZRGBNormal & point,
110 const Transform & transform);
112 const pcl::PointXYZINormal & point,
113 const Transform & transform);
cv::Point3f RTABMAP_EXP transformPoint(const cv::Point3f &pt, const Transform &transform)
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
LaserScan RTABMAP_EXP transformLaserScan(const LaserScan &laserScan, const Transform &transform)