mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
186 lines
16 KiB
HTML
186 lines
16 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: Transform PCL Point Clouds</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.12</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('group__TransformPointcloud.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="summary">
|
|
<a href="#func-members">Functions</a> </div>
|
|
<div class="headertitle"><div class="title">Transform PCL Point Clouds</div></div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
|
|
<p>Transforms various PCL point cloud types using the given transform.
|
|
<a href="#details">More...</a></p>
|
|
<table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
|
|
Functions</h2></td></tr>
|
|
<tr class="memitem:ga46b86abad0f4aa2ba7f191da0e07ba69" id="r_ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="memItemLeft" align="right" valign="top"><a id="ga46b86abad0f4aa2ba7f191da0e07ba69" name="ga46b86abad0f4aa2ba7f191da0e07ba69"></a>
|
|
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>
|
|
<tr class="memdesc:ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZ</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:ga46b86abad0f4aa2ba7f191da0e07ba69"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga7a573f91887b29ec4ff2ef6355df4473" id="r_ga7a573f91887b29ec4ff2ef6355df4473"><td class="memItemLeft" align="right" valign="top"><a id="ga7a573f91887b29ec4ff2ef6355df4473" name="ga7a573f91887b29ec4ff2ef6355df4473"></a>
|
|
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>
|
|
<tr class="memdesc:ga7a573f91887b29ec4ff2ef6355df4473"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZI</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:ga7a573f91887b29ec4ff2ef6355df4473"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga18eb2c9ec062b5453bf7c97128d89018" id="r_ga18eb2c9ec062b5453bf7c97128d89018"><td class="memItemLeft" align="right" valign="top"><a id="ga18eb2c9ec062b5453bf7c97128d89018" name="ga18eb2c9ec062b5453bf7c97128d89018"></a>
|
|
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>
|
|
<tr class="memdesc:ga18eb2c9ec062b5453bf7c97128d89018"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGB</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:ga18eb2c9ec062b5453bf7c97128d89018"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga310e525344813377f2d470d47b7c4d51" id="r_ga310e525344813377f2d470d47b7c4d51"><td class="memItemLeft" align="right" valign="top"><a id="ga310e525344813377f2d470d47b7c4d51" name="ga310e525344813377f2d470d47b7c4d51"></a>
|
|
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>
|
|
<tr class="memdesc:ga310e525344813377f2d470d47b7c4d51"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointNormal</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:ga310e525344813377f2d470d47b7c4d51"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga1387b7a1d5280ed3596331f93fc56484" id="r_ga1387b7a1d5280ed3596331f93fc56484"><td class="memItemLeft" align="right" valign="top"><a id="ga1387b7a1d5280ed3596331f93fc56484" name="ga1387b7a1d5280ed3596331f93fc56484"></a>
|
|
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>
|
|
<tr class="memdesc:ga1387b7a1d5280ed3596331f93fc56484"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZRGBNormal</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:ga1387b7a1d5280ed3596331f93fc56484"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:gac60701fa37d61f3cbe6f462da7576e73" id="r_gac60701fa37d61f3cbe6f462da7576e73"><td class="memItemLeft" align="right" valign="top"><a id="gac60701fa37d61f3cbe6f462da7576e73" name="gac60701fa37d61f3cbe6f462da7576e73"></a>
|
|
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>
|
|
<tr class="memdesc:gac60701fa37d61f3cbe6f462da7576e73"><td class="mdescLeft"> </td><td class="mdescRight">Transforms <code>pcl::PointXYZINormal</code> point cloud type. <br /></td></tr>
|
|
<tr class="separator:gac60701fa37d61f3cbe6f462da7576e73"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga59e54f906ba844eb8780946e57b0e271" id="r_ga59e54f906ba844eb8780946e57b0e271"><td class="memItemLeft" align="right" valign="top"><a id="ga59e54f906ba844eb8780946e57b0e271" name="ga59e54f906ba844eb8780946e57b0e271"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:ga59e54f906ba844eb8780946e57b0e271"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga2a621fc8ab625cd4003b4f26e0ce3b52" id="r_ga2a621fc8ab625cd4003b4f26e0ce3b52"><td class="memItemLeft" align="right" valign="top"><a id="ga2a621fc8ab625cd4003b4f26e0ce3b52" name="ga2a621fc8ab625cd4003b4f26e0ce3b52"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:ga2a621fc8ab625cd4003b4f26e0ce3b52"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga797f466a165622e08dda14cdaccb5df6" id="r_ga797f466a165622e08dda14cdaccb5df6"><td class="memItemLeft" align="right" valign="top"><a id="ga797f466a165622e08dda14cdaccb5df6" name="ga797f466a165622e08dda14cdaccb5df6"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:ga797f466a165622e08dda14cdaccb5df6"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga00514f671b8dbcc343ff481aa7c36367" id="r_ga00514f671b8dbcc343ff481aa7c36367"><td class="memItemLeft" align="right" valign="top"><a id="ga00514f671b8dbcc343ff481aa7c36367" name="ga00514f671b8dbcc343ff481aa7c36367"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:ga00514f671b8dbcc343ff481aa7c36367"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:gac7c95eba604afe62ab897df62d862220" id="r_gac7c95eba604afe62ab897df62d862220"><td class="memItemLeft" align="right" valign="top"><a id="gac7c95eba604afe62ab897df62d862220" name="gac7c95eba604afe62ab897df62d862220"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:gac7c95eba604afe62ab897df62d862220"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ga47713c64205eb83460cfeec9a7bb6659" id="r_ga47713c64205eb83460cfeec9a7bb6659"><td class="memItemLeft" align="right" valign="top"><a id="ga47713c64205eb83460cfeec9a7bb6659" name="ga47713c64205eb83460cfeec9a7bb6659"></a>
|
|
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>
|
|
<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>
|
|
<tr class="separator:ga47713c64205eb83460cfeec9a7bb6659"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table>
|
|
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
|
<p>Transforms various PCL point cloud types using the given transform. </p>
|
|
<ul>
|
|
<li>For types with normals, the normals are transformed appriopriatly.</li>
|
|
<li>If indices are provided, the returned point cloud contains only points matching the indices.</li>
|
|
</ul>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">cloud</td><td>The input point cloud. </td></tr>
|
|
<tr><td class="paramname">indices</td><td>Optional subset of indices of the points to transform. </td></tr>
|
|
<tr><td class="paramname">transform</td><td>The transform to apply. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
<dl class="section return"><dt>Returns</dt><dd>A new point cloud with the transform applied. </dd></dl>
|
|
</div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<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>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|