| 146 | } |
| 147 | |
| 148 | Pointcloud::Ptr loadPointcloudFromPcd(const std::string& filename) { |
| 149 | Pointcloud::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); |
| 150 | pcl::PCLPointCloud2 cloudBlob; |
| 151 | pcl::io::loadPCDFile(filename, cloudBlob); |
| 152 | pcl::fromPCLPointCloud2(cloudBlob, *cloud); |
| 153 | return cloud; |
| 154 | } |
| 155 | |
| 156 | Pointcloud::Ptr transformCloud(Pointcloud::ConstPtr inputCloud, const Eigen::Affine3f& transformMatrix) { |
| 157 | Pointcloud::Ptr transformedCloud(new Pointcloud()); |
no outgoing calls
no test coverage detected