util3d_transforms.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef UTIL3D_TRANSFORMS_H_
29 #define UTIL3D_TRANSFORMS_H_
30 
32 
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <pcl/pcl_base.h>
36 #include <rtabmap/core/Transform.h>
37 #include <rtabmap/core/LaserScan.h>
38 
39 namespace rtabmap
40 {
41 
42 namespace util3d
43 {
44 
46  const LaserScan & laserScan,
47  const Transform & transform);
48 
49 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
50  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
51  const Transform & transform);
52 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP transformPointCloud(
53  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
54  const Transform & transform);
55 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
56  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
57  const Transform & transform);
58 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP transformPointCloud(
59  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
60  const Transform & transform);
61 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
62  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
63  const Transform & transform);
64 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP transformPointCloud(
65  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
66  const Transform & transform);
67 
68 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
69  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
70  const pcl::IndicesPtr & indices,
71  const Transform & transform);
72 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP transformPointCloud(
73  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
74  const pcl::IndicesPtr & indices,
75  const Transform & transform);
76 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
77  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
78  const pcl::IndicesPtr & indices,
79  const Transform & transform);
80 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP transformPointCloud(
81  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
82  const pcl::IndicesPtr & indices,
83  const Transform & transform);
84 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
85  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
86  const pcl::IndicesPtr & indices,
87  const Transform & transform);
88 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP transformPointCloud(
89  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
90  const pcl::IndicesPtr & indices,
91  const Transform & transform);
92 
93 cv::Point3f RTABMAP_EXP transformPoint(
94  const cv::Point3f & pt,
95  const Transform & transform);
96 pcl::PointXYZ RTABMAP_EXP transformPoint(
97  const pcl::PointXYZ & pt,
98  const Transform & transform);
99 pcl::PointXYZI RTABMAP_EXP transformPoint(
100  const pcl::PointXYZI & pt,
101  const Transform & transform);
102 pcl::PointXYZRGB RTABMAP_EXP transformPoint(
103  const pcl::PointXYZRGB & pt,
104  const Transform & transform);
105 pcl::PointNormal RTABMAP_EXP transformPoint(
106  const pcl::PointNormal & point,
107  const Transform & transform);
108 pcl::PointXYZRGBNormal RTABMAP_EXP transformPoint(
109  const pcl::PointXYZRGBNormal & point,
110  const Transform & transform);
111 pcl::PointXYZINormal RTABMAP_EXP transformPoint(
112  const pcl::PointXYZINormal & point,
113  const Transform & transform);
114 
115 } // namespace util3d
116 } // namespace rtabmap
117 
118 #endif /* UTIL3D_TRANSFORMS_H_ */
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)
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
LaserScan RTABMAP_EXP transformLaserScan(const LaserScan &laserScan, const Transform &transform)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:41