transforms.h

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#ifndef PCL_TRANSFORMS_H_
#define PCL_TRANSFORMS_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include "pcl/common/centroid.h"
#include <Eigen/Core>
#include <Eigen/Geometry>

namespace pcl
{
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Affine3f &transform);

  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const std::vector<int> &indices, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Affine3f &transform);

  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Affine3f &transform);

  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix4f &transform);

  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix4f &transform);

  template <typename PointT> inline void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Vector3f &offset, 
                       const Eigen::Quaternionf &rotation);

  template <typename PointT> inline void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Vector3f &offset, 
                                  const Eigen::Quaternionf &rotation);
  template <typename PointT> inline PointT
  transformPoint (const PointT &point, const Eigen::Affine3f &transform);
  
}

#include "pcl/common/impl/transforms.hpp"

#endif // PCL_TRANSFORMS_H_