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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef UTIL3D_TRANSFORMS_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define UTIL3D_TRANSFORMS_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &lt;rtabmap/core/rtabmap_core_export.h&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/LaserScan.h&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">namespace </span>util3d</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#abf12a46cc48ee93e6575ea624377fb42"> 75</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#abf12a46cc48ee93e6575ea624377fb42">transformLaserScan</a>(</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; laserScan,</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69"> 93</a></span>pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga7a573f91887b29ec4ff2ef6355df4473"> 97</a></span>pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga18eb2c9ec062b5453bf7c97128d89018"> 101</a></span>pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga310e525344813377f2d470d47b7c4d51"> 105</a></span>pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga1387b7a1d5280ed3596331f93fc56484"> 109</a></span>pcl::PointCloud&lt;pcl::PointXYZRGBNormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGBNormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#gac60701fa37d61f3cbe6f462da7576e73"> 113</a></span>pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga59e54f906ba844eb8780946e57b0e271"> 118</a></span>pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga2a621fc8ab625cd4003b4f26e0ce3b52"> 123</a></span>pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga797f466a165622e08dda14cdaccb5df6"> 128</a></span>pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga00514f671b8dbcc343ff481aa7c36367"> 133</a></span>pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#gac7c95eba604afe62ab897df62d862220"> 138</a></span>pcl::PointCloud&lt;pcl::PointXYZRGBNormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGBNormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="group__TransformPointcloud.html#ga47713c64205eb83460cfeec9a7bb6659"> 143</a></span>pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">transformPointCloud</a>(</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9"> 161</a></span>cv::Point3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">const</span> cv::Point3f &amp; pt,</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga4910f2b937d405bd529772c33d477ca4"> 165</a></span>cv::Point3d RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> cv::Point3d &amp; pt,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga2ad96e68847f315e6d5df18d3219f308"> 169</a></span>pcl::PointXYZ RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">const</span> pcl::PointXYZ &amp; pt,</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga7bfb9d7e10b81cd3b5e3f164081388be"> 173</a></span>pcl::PointXYZI RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keyword">const</span> pcl::PointXYZI &amp; pt,</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga90e6ffecb159bdff5afc75e16ab1fe19"> 177</a></span>pcl::PointXYZRGB RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">const</span> pcl::PointXYZRGB &amp; pt,</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#gad98c1e7ba04edb9a57c5557d88360afd"> 181</a></span>pcl::PointNormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">const</span> pcl::PointNormal &amp; point,</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#ga8cf51597b74c589365d2e0e2272bea70"> 185</a></span>pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">const</span> pcl::PointXYZRGBNormal &amp; point,</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="group__TransformPoint.html#gae272348c0353fe96683680b981a6b0fa"> 189</a></span>pcl::PointXYZINormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">transformPoint</a>(</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">const</span> pcl::PointXYZINormal &amp; point,</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>} <span class="comment">// namespace util3d</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_TRANSFORMS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="agroup__TransformPoint_html_ga88b4f827a105254bf08bdae73cebdbe9"><div class="ttname"><a href="group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9">rtabmap::util3d::transformPoint</a></div><div class="ttdeci">cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &amp;pt, const Transform &amp;transform)</div><div class="ttdoc">Transforms cv::Point3f point type.</div></div>
<div class="ttc" id="agroup__TransformPointcloud_html_ga46b86abad0f4aa2ba7f191da0e07ba69"><div class="ttname"><a href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">rtabmap::util3d::transformPointCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const Transform &amp;transform)</div><div class="ttdoc">Transforms pcl::PointXYZ point cloud type.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_abf12a46cc48ee93e6575ea624377fb42"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#abf12a46cc48ee93e6575ea624377fb42">rtabmap::util3d::transformLaserScan</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT transformLaserScan(const LaserScan &amp;laserScan, const Transform &amp;transform)</div><div class="ttdoc">Applies a 3D transform to all points (and normals if present) in a LaserScan.</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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