Template Function pcl_ros::transformPointCloudWithNormals(const pcl::PointCloud<PointT>&, pcl::PointCloud<PointT>&, const geometry_msgs::msg::TransformStamped&)

• Defined in File transforms.hpp

Function Documentation

template<typename PointT>
void pcl_ros::transformPointCloudWithNormals(const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT> &cloud_out, const geometry_msgs::msg::TransformStamped &transform)

Transform a point cloud and rotate its normals using an Eigen transform.

Note

calls the Eigen version

Parameters:

• cloud_in – the input point cloud

• cloud_out – the input point cloud

• transform – a rigid transformation from tf