Function compute

tools/transform_point_cloud.cpp:156–168

}

void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
         Eigen::Matrix4f &tform)
{
  TicToc tt;
  tt.tic ();
  
  print_highlight ("Transforming ");

  transformPointCloud2 (*input, output, tform);

  printElapsedTimeAndNumberOfPoints (tt.toc (), output.width, output.height);
}

void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)