Template Function ouster::sdk::core::transform(Eigen::Ref<PointCloudXYZ<T>>, const Eigen::Ref<const PointCloudXYZ<T>>, const Eigen::Ref<const Vector16<T>>)

• Defined in File pose_util.h

Function Documentation

template<typename T>
void ouster::sdk::core::transform(Eigen::Ref<PointCloudXYZ<T>> transformed, const Eigen::Ref<const PointCloudXYZ<T>> points, const Eigen::Ref<const Vector16<T>> pose)

Applies a single 4x4 pose transformation to a set of 3D points.

This function takes in a set of 3D points and applies a single 4x4 transformation matrix (Pose) to all points.

Parameters:

• transformed[out] – A matrix of shape (N, 3) containing the transformed 3D points, where each point is rotated and translated by the given pose.

• points[in] – A matrix of shape (N, 3) representing the 3D points. Each row corresponds to a point in 3D space.

• pose[in] – A vector of 16 elements representing a flattened 4x4 transformation matrix.