mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 17:27:46 +08:00
215 lines
8.3 KiB
C++
215 lines
8.3 KiB
C++
/*
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Copyright (c) 2010-2016, 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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#include <rtabmap/utilite/ULogger.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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cv::Mat transformLaserScan(const cv::Mat & laserScan, const Transform & transform)
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{
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UASSERT(laserScan.empty() || laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6));
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cv::Mat output = laserScan.clone();
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if(!transform.isNull() && !transform.isIdentity())
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{
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for(int i=0; i<laserScan.cols; ++i)
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{
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if(laserScan.type() == CV_32FC2)
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{
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pcl::PointXYZ pt(
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laserScan.at<cv::Vec2f>(i)[0],
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laserScan.at<cv::Vec2f>(i)[1], 0);
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pt = util3d::transformPoint(pt, transform);
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output.at<cv::Vec2f>(i)[0] = pt.x;
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output.at<cv::Vec2f>(i)[1] = pt.y;
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}
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else if(laserScan.type() == CV_32FC3)
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{
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pcl::PointXYZ pt(
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laserScan.at<cv::Vec3f>(i)[0],
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laserScan.at<cv::Vec3f>(i)[1],
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laserScan.at<cv::Vec3f>(i)[2]);
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pt = util3d::transformPoint(pt, transform);
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output.at<cv::Vec3f>(i)[0] = pt.x;
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output.at<cv::Vec3f>(i)[1] = pt.y;
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output.at<cv::Vec3f>(i)[2] = pt.z;
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}
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else if(laserScan.type() == CV_32FC(4))
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{
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pcl::PointXYZ pt(
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laserScan.at<cv::Vec4f>(i)[0],
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laserScan.at<cv::Vec4f>(i)[1],
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laserScan.at<cv::Vec4f>(i)[2]);
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pt = util3d::transformPoint(pt, transform);
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output.at<cv::Vec4f>(i)[0] = pt.x;
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output.at<cv::Vec4f>(i)[1] = pt.y;
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output.at<cv::Vec4f>(i)[2] = pt.z;
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}
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else
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{
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pcl::PointNormal pt;
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pt.x=laserScan.at<cv::Vec6f>(i)[0];
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pt.y=laserScan.at<cv::Vec6f>(i)[1];
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pt.z=laserScan.at<cv::Vec6f>(i)[2];
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pt.normal_x=laserScan.at<cv::Vec6f>(i)[3];
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pt.normal_y=laserScan.at<cv::Vec6f>(i)[4];
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pt.normal_z=laserScan.at<cv::Vec6f>(i)[5];
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pt = util3d::transformPoint(pt, transform);
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output.at<cv::Vec6f>(i)[0] = pt.x;
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output.at<cv::Vec6f>(i)[1] = pt.y;
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output.at<cv::Vec6f>(i)[2] = pt.z;
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output.at<cv::Vec6f>(i)[3] = pt.normal_x;
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output.at<cv::Vec6f>(i)[4] = pt.normal_y;
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output.at<cv::Vec6f>(i)[5] = pt.normal_z;
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}
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}
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}
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return output;
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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::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
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pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
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return output;
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}
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
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pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
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return output;
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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 pcl::IndicesPtr & indices,
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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, *indices, *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 pcl::IndicesPtr & indices,
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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, *indices, *output, transform.toEigen4f());
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return output;
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}
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pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
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pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
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return output;
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}
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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const Transform & transform)
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{
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
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pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
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return output;
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}
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cv::Point3f transformPoint(
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const cv::Point3f & point,
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const Transform & transform)
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{
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cv::Point3f ret = point;
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ret.x = transform (0, 0) * point.x + transform (0, 1) * point.y + transform (0, 2) * point.z + transform (0, 3);
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ret.y = transform (1, 0) * point.x + transform (1, 1) * point.y + transform (1, 2) * point.z + transform (1, 3);
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ret.z = transform (2, 0) * point.x + transform (2, 1) * point.y + transform (2, 2) * point.z + transform (2, 3);
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return ret;
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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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pcl::PointNormal transformPoint(
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const pcl::PointNormal & point,
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const Transform & transform)
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{
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pcl::PointNormal ret;
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Eigen::Matrix<float, 3, 1> pt (point.x, point.y, point.z);
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ret.x = static_cast<float> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));
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ret.y = static_cast<float> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));
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ret.z = static_cast<float> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));
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// Rotate normals
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Eigen::Matrix<float, 3, 1> nt (point.normal_x, point.normal_y, point.normal_z);
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ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
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ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
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ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));
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return ret;
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}
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}
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}
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