| 95 | } |
| 96 | |
| 97 | void PointcloudProcessor::savePointCloudAsPcdFile(const std::string& filename, const Pointcloud& cloud) { |
| 98 | pcl::PCDWriter writer; |
| 99 | pcl::PCLPointCloud2 pointCloud2; |
| 100 | pcl::toPCLPointCloud2(cloud, pointCloud2); |
| 101 | writer.write(filename, pointCloud2, Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false); |
| 102 | } |
| 103 | |
| 104 | Pointcloud::Ptr PointcloudProcessor::applyRigidBodyTransformation(Pointcloud::ConstPtr inputCloud) const { |
| 105 | auto transformedCloud = |
nothing calls this directly
no outgoing calls
no test coverage detected