iLab Neuromorphic Robotics Toolkit  0.1
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Functions

PointCloud2 nrt::demeanPointCloud (PointCloud2 const input, PointCloud2::Geometry const &centroid)
 Subtracts a centroid from a point cloud. More...
 
template<class Field >
PointCloud2 nrt::demeanPointCloud (PointCloud2 const input, Field const &centroid)
 Subtracts a centroid from a specific field in a point cloud. More...
 
PointCloud2 nrt::transformPointCloud (PointCloud2 const input, PointCloud2::AffineTransform const &transform)
 Apply a transformation, creating a new point cloud. More...
 
PointCloud2 nrt::transformPointCloud (PointCloud2 const input, Indices const indices, PointCloud2::AffineTransform const &transform)
 Apply a transformation to a subset, creating a new point cloud. More...
 
void nrt::transformPointCloudInPlace (PointCloud2 &input, PointCloud2::AffineTransform const &transform)
 Apply a transformation in place. More...
 
void nrt::transformPointCloudInPlace (PointCloud2 &input, Indices const indices, PointCloud2::AffineTransform const &transform)
 Apply a transformation in place to a subset. More...
 
PointCloud2 nrt::transformPointCloudWithNormals (PointCloud2 const input, PointCloud2::AffineTransform const &transform)
 Apply a transformation to the geometry and rotation to the normals, creating a new point cloud. More...
 
void nrt::transformPointCloudWithNormalsInPlace (PointCloud2 &input, PointCloud2::AffineTransform const &transform)
 Apply a transformation to the geometry and rotation to the normals, in place. More...
 

Function Documentation

PointCloud2 nrt::demeanPointCloud ( PointCloud2 const  input,
PointCloud2::Geometry const &  centroid 
)

Subtracts a centroid from a point cloud.

Parameters
inputThe point cloud
centroidThe geometrical centroid
Returns
The demeaned point cloud
Examples:
tests/test-PointCloud2Common.C.
template<class Field >
PointCloud2 nrt::demeanPointCloud ( PointCloud2 const  input,
Field const &  centroid 
)

Subtracts a centroid from a specific field in a point cloud.

Template Parameters
FieldThe field to demean
Parameters
inputThe point cloud
centroidThe centroid to subtract from a field
Returns
The demeaned point cloud
PointCloud2 nrt::transformPointCloud ( PointCloud2 const  input,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation, creating a new point cloud.

Parameters
inputThe point cloud
transformThe affine transformation
Returns
The transformed cloud
Examples:
tests/test-PointCloud2Common.C, and tests/test-PointCloud2Registration.C.
PointCloud2 nrt::transformPointCloud ( PointCloud2 const  input,
Indices const  indices,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation to a subset, creating a new point cloud.

Parameters
inputThe point cloud
indicesThe subset to use
transformThe affine transformation
Returns
The transformed cloud
void nrt::transformPointCloudInPlace ( PointCloud2 &  input,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation in place.

Parameters
[in,out]inputThe point cloud
[in]transformThe affine transformation
Examples:
tests/test-PointCloud2Common.C, tests/test-PointCloud2OpenNI.C, and tests/test-PointCloud2Registration.C.
void nrt::transformPointCloudInPlace ( PointCloud2 &  input,
Indices const  indices,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation in place to a subset.

Parameters
[in,out]inputThe point cloud
[in]indicesThe subset to use
[in]transformThe affine transformation
PointCloud2 nrt::transformPointCloudWithNormals ( PointCloud2 const  input,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation to the geometry and rotation to the normals, creating a new point cloud.

Parameters
inputThe point cloud, must have an nrt::PointNormal field
transformThe affine transformation
Returns
The transformed cloud
void nrt::transformPointCloudWithNormalsInPlace ( PointCloud2 &  input,
PointCloud2::AffineTransform const &  transform 
)

Apply a transformation to the geometry and rotation to the normals, in place.

Parameters
[in,out]inputThe point cloud, must have an nrt::PointNormal field
[in]transformThe affine transformation
Examples:
tests/test-PointCloud2Registration.C.