コード例 #1
0
ファイル: transforms.hpp プロジェクト: 2php/pcl
template <typename PointT, typename Scalar> inline PointT
pcl::transformPointWithNormal (const PointT &point, 
                     const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform)
{
  PointT ret = point;
  ret.getVector3fMap () = transform * point.getVector3fMap ();
  ret.getNormalVector3fMap () = transform.rotation () * point.getNormalVector3fMap ();

  return (ret);
}
コード例 #2
0
        /** \brief Calculate centroid of voxel.
          * \param[out] centroid_arg the resultant centroid of the voxel 
          */
        void 
        getCentroid (PointT& centroid_arg) const
        {
          using namespace pcl::common;

          if (point_counter_)
          {
            centroid_arg.getVector3fMap() = (pt_ / static_cast<double> (point_counter_)).cast<float>();
            centroid_arg.getNormalVector3fMap() = n_.normalized().cast<float>();
            centroid_arg.r = static_cast<unsigned char>(r_ / point_counter_);
            centroid_arg.g = static_cast<unsigned char>(g_ / point_counter_);
            centroid_arg.b = static_cast<unsigned char>(b_ / point_counter_);
          }
          else
          {
            centroid_arg.x = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.y = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.z = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.normal_x = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.normal_y = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.normal_z = std::numeric_limits<float>::quiet_NaN();
            centroid_arg.r = 0;
            centroid_arg.g = 0;
            centroid_arg.b = 0;
          }
        }