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71 lines
2.6 KiB
C++
71 lines
2.6 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap/core/util3d_transforms.h"
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#include <pcl/common/transforms.h>
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namespace rtabmap
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{
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namespace util3d
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
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return output;
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}
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
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pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
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return output;
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}
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pcl::PointXYZ transformPoint(
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const pcl::PointXYZ & pt,
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const Transform & transform)
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{
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return pcl::transformPoint(pt, transform.toEigen3f());
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}
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pcl::PointXYZRGB transformPoint(
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const pcl::PointXYZRGB & pt,
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const Transform & transform)
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{
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return pcl::transformPoint(pt, transform.toEigen3f());
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}
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}
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}
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