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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#func-members">Functions</a> </div>
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<div class="headertitle"><div class="title">Transform PCL Point Clouds</div></div>
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<p>Transforms various PCL point cloud types using the given transform.
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<a href="#details">More...</a></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga46b86abad0f4aa2ba7f191da0e07ba69" id="r_ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="memItemLeft" align="right" valign="top"><a id="ga46b86abad0f4aa2ba7f191da0e07ba69" name="ga46b86abad0f4aa2ba7f191da0e07ba69"></a>
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pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZ</code> point cloud type. <br /></td></tr>
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<tr class="separator:ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga7a573f91887b29ec4ff2ef6355df4473" id="r_ga7a573f91887b29ec4ff2ef6355df4473"><td class="memItemLeft" align="right" valign="top"><a id="ga7a573f91887b29ec4ff2ef6355df4473" name="ga7a573f91887b29ec4ff2ef6355df4473"></a>
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pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga7a573f91887b29ec4ff2ef6355df4473"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZI</code> point cloud type. <br /></td></tr>
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<tr class="separator:ga7a573f91887b29ec4ff2ef6355df4473"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga18eb2c9ec062b5453bf7c97128d89018" id="r_ga18eb2c9ec062b5453bf7c97128d89018"><td class="memItemLeft" align="right" valign="top"><a id="ga18eb2c9ec062b5453bf7c97128d89018" name="ga18eb2c9ec062b5453bf7c97128d89018"></a>
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pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga18eb2c9ec062b5453bf7c97128d89018"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGB</code> point cloud type. <br /></td></tr>
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<tr class="separator:ga18eb2c9ec062b5453bf7c97128d89018"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga310e525344813377f2d470d47b7c4d51" id="r_ga310e525344813377f2d470d47b7c4d51"><td class="memItemLeft" align="right" valign="top"><a id="ga310e525344813377f2d470d47b7c4d51" name="ga310e525344813377f2d470d47b7c4d51"></a>
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pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga310e525344813377f2d470d47b7c4d51"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointNormal</code> point cloud type. <br /></td></tr>
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<tr class="separator:ga310e525344813377f2d470d47b7c4d51"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga1387b7a1d5280ed3596331f93fc56484" id="r_ga1387b7a1d5280ed3596331f93fc56484"><td class="memItemLeft" align="right" valign="top"><a id="ga1387b7a1d5280ed3596331f93fc56484" name="ga1387b7a1d5280ed3596331f93fc56484"></a>
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pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga1387b7a1d5280ed3596331f93fc56484"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGBNormal</code> point cloud type. <br /></td></tr>
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<tr class="separator:ga1387b7a1d5280ed3596331f93fc56484"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac60701fa37d61f3cbe6f462da7576e73" id="r_gac60701fa37d61f3cbe6f462da7576e73"><td class="memItemLeft" align="right" valign="top"><a id="gac60701fa37d61f3cbe6f462da7576e73" name="gac60701fa37d61f3cbe6f462da7576e73"></a>
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pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:gac60701fa37d61f3cbe6f462da7576e73"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZINormal</code> point cloud type. <br /></td></tr>
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<tr class="separator:gac60701fa37d61f3cbe6f462da7576e73"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga59e54f906ba844eb8780946e57b0e271" id="r_ga59e54f906ba844eb8780946e57b0e271"><td class="memItemLeft" align="right" valign="top"><a id="ga59e54f906ba844eb8780946e57b0e271" name="ga59e54f906ba844eb8780946e57b0e271"></a>
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pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga59e54f906ba844eb8780946e57b0e271"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZ</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:ga59e54f906ba844eb8780946e57b0e271"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga2a621fc8ab625cd4003b4f26e0ce3b52" id="r_ga2a621fc8ab625cd4003b4f26e0ce3b52"><td class="memItemLeft" align="right" valign="top"><a id="ga2a621fc8ab625cd4003b4f26e0ce3b52" name="ga2a621fc8ab625cd4003b4f26e0ce3b52"></a>
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pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga2a621fc8ab625cd4003b4f26e0ce3b52"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZI</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:ga2a621fc8ab625cd4003b4f26e0ce3b52"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga797f466a165622e08dda14cdaccb5df6" id="r_ga797f466a165622e08dda14cdaccb5df6"><td class="memItemLeft" align="right" valign="top"><a id="ga797f466a165622e08dda14cdaccb5df6" name="ga797f466a165622e08dda14cdaccb5df6"></a>
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pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga797f466a165622e08dda14cdaccb5df6"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGB</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:ga797f466a165622e08dda14cdaccb5df6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga00514f671b8dbcc343ff481aa7c36367" id="r_ga00514f671b8dbcc343ff481aa7c36367"><td class="memItemLeft" align="right" valign="top"><a id="ga00514f671b8dbcc343ff481aa7c36367" name="ga00514f671b8dbcc343ff481aa7c36367"></a>
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pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga00514f671b8dbcc343ff481aa7c36367"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointNormal</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:ga00514f671b8dbcc343ff481aa7c36367"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gac7c95eba604afe62ab897df62d862220" id="r_gac7c95eba604afe62ab897df62d862220"><td class="memItemLeft" align="right" valign="top"><a id="gac7c95eba604afe62ab897df62d862220" name="gac7c95eba604afe62ab897df62d862220"></a>
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pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:gac7c95eba604afe62ab897df62d862220"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGBNormal</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:gac7c95eba604afe62ab897df62d862220"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga47713c64205eb83460cfeec9a7bb6659" id="r_ga47713c64205eb83460cfeec9a7bb6659"><td class="memItemLeft" align="right" valign="top"><a id="ga47713c64205eb83460cfeec9a7bb6659" name="ga47713c64205eb83460cfeec9a7bb6659"></a>
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pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::transformPointCloud</b> (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &transform)</td></tr>
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<tr class="memdesc:ga47713c64205eb83460cfeec9a7bb6659"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZINormal</code> point cloud type with specified indices. <br /></td></tr>
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<tr class="separator:ga47713c64205eb83460cfeec9a7bb6659"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>Transforms various PCL point cloud types using the given transform. </p>
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<ul>
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<li>For types with normals, the normals are transformed appriopriatly.</li>
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<li>If indices are provided, the returned point cloud contains only points matching the indices.</li>
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</ul>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">cloud</td><td>The input point cloud. </td></tr>
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<tr><td class="paramname">indices</td><td>Optional subset of indices of the points to transform. </td></tr>
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<tr><td class="paramname">transform</td><td>The transform to apply. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>A new point cloud with the transform applied. </dd></dl>
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</div><!-- contents -->
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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