transforms.h

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00036 #ifndef PCL_TRANSFORMS_H_
00037 #define PCL_TRANSFORMS_H_
00038 
00039 #include <pcl/point_cloud.h>
00040 #include <pcl/point_types.h>
00041 #include "pcl/common/centroid.h"
00042 #include <Eigen/Core>
00043 #include <Eigen/Geometry>
00044 
00045 namespace pcl
00046 {
00056   template <typename PointT> void 
00057   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00058                        pcl::PointCloud<PointT> &cloud_out, 
00059                        const Eigen::Affine3f &transform);
00060 
00071   template <typename PointT> void 
00072   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00073                        const std::vector<int> &indices, 
00074                        pcl::PointCloud<PointT> &cloud_out, 
00075                        const Eigen::Affine3f &transform);
00076 
00085   template <typename PointT> void 
00086   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00087                                   pcl::PointCloud<PointT> &cloud_out, 
00088                                   const Eigen::Affine3f &transform);
00089 
00099   template <typename PointT> void 
00100   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00101                        pcl::PointCloud<PointT> &cloud_out, 
00102                        const Eigen::Matrix4f &transform);
00103 
00113   template <typename PointT> void 
00114   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00115                                   pcl::PointCloud<PointT> &cloud_out, 
00116                                   const Eigen::Matrix4f &transform);
00117 
00127   template <typename PointT> inline void 
00128   transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
00129                        pcl::PointCloud<PointT> &cloud_out, 
00130                        const Eigen::Vector3f &offset, 
00131                        const Eigen::Quaternionf &rotation);
00132 
00142   template <typename PointT> inline void 
00143   transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
00144                                   pcl::PointCloud<PointT> &cloud_out, 
00145                                   const Eigen::Vector3f &offset, 
00146                                   const Eigen::Quaternionf &rotation);
00153   template <typename PointT> inline PointT
00154   transformPoint (const PointT &point, const Eigen::Affine3f &transform);
00155   
00156 }
00157 
00158 #include "pcl/common/impl/transforms.hpp"
00159 
00160 #endif // PCL_TRANSFORMS_H_