Method applyRigidBodyTransformation

grid_map_pcl/src/PointcloudProcessor.cpp:104–109

}

Pointcloud::Ptr PointcloudProcessor::applyRigidBodyTransformation(Pointcloud::ConstPtr inputCloud) const {
  auto transformedCloud =
      grid_map_pcl::transformCloud(inputCloud, grid_map_pcl::getRigidBodyTransform(params_->get().cloudTransformation_.translation_,
                                                                                   params_->get().cloudTransformation_.rpyIntrinsic_));
  return transformedCloud;
}

} /* namespace grid_map_pcl */