iLab Neuromorphic Robotics Toolkit  0.1
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Transforms.H
Go to the documentation of this file.
1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_TRANSFORMS_H
37 #define INCLUDE_NRT_POINTCLOUD2_COMMON_TRANSFORMS_H
38 
40 
41 namespace nrt
42 {
43  /*! @defgroup pointcloudtransforms Geometric Transforms
44  @ingroup pointcloudcommon
45  @{ */
46 
47  //! Subtracts a centroid from a point cloud
48  /*! @param input The point cloud
49  @param centroid The geometrical centroid
50  @return The demeaned point cloud */
51  PointCloud2 demeanPointCloud( PointCloud2 const input, PointCloud2::Geometry const & centroid );
52 
53  //! Subtracts a centroid from a specific field in a point cloud
54  /*! @tparam Field The field to demean
55  @param input The point cloud
56  @param centroid The centroid to subtract from a field
57  @return The demeaned point cloud */
58  template <class Field>
59  PointCloud2 demeanPointCloud( PointCloud2 const input, Field const & centroid );
60 
61  //! Apply a transformation, creating a new point cloud
62  /*! @param input The point cloud
63  @param transform The affine transformation
64  @return The transformed cloud */
65  PointCloud2 transformPointCloud( PointCloud2 const input, PointCloud2::AffineTransform const & transform );
66 
67  //! Apply a transformation to a subset, creating a new point cloud
68  /*! @param input The point cloud
69  @param indices The subset to use
70  @param transform The affine transformation
71  @return The transformed cloud */
72  PointCloud2 transformPointCloud( PointCloud2 const input, Indices const indices, PointCloud2::AffineTransform const & transform );
73 
74  //! Apply a transformation in place
75  /*! @param[in,out] input The point cloud
76  @param[in] transform The affine transformation */
77  void transformPointCloudInPlace( PointCloud2 & input, PointCloud2::AffineTransform const & transform );
78 
79  //! Apply a transformation in place to a subset
80  /*! @param[in,out] input The point cloud
81  @param[in] indices The subset to use
82  @param[in] transform The affine transformation */
83  void transformPointCloudInPlace( PointCloud2 & input, Indices const indices, PointCloud2::AffineTransform const & transform );
84 
85  //! Apply a transformation to the geometry and rotation to the normals, creating a new point cloud
86  /*! @param input The point cloud, must have an nrt::PointNormal field
87  @param transform The affine transformation
88  @return The transformed cloud */
89  PointCloud2 transformPointCloudWithNormals( PointCloud2 const input, PointCloud2::AffineTransform const & transform );
90 
91  //! Apply a transformation to the geometry and rotation to the normals, in place
92  /*! @param[in,out] input The point cloud, must have an nrt::PointNormal field
93  @param[in] transform The affine transformation */
95  /*! @} */
96 } // namespace nrt
97 
99 
100 #endif // INCLUDE_NRT_POINTCLOUD2_COMMON_TRANSFORMS_H
101 #endif // NRT_HAVE_CLOUD