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transformPointsForward

Apply forward geometric transformation to points

Description

example

pointsOut = transformPointsForward(pointsIn,tform) applies the forward geomentric transformation tform to the input pointsIn and returns the transformed LOAM feature points.

Examples

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Load an organized lidar point cloud from a MAT file.

ld = load("drivingLidarPoints.mat");
ptCloud = ld.ptCloud;

Detect LOAM feature points.

points = detectLOAMFeatures(ptCloud);

Define a rigid transformation object.

tform = rigid3d(eye(3),[2 1 4]);

Transform the LOAM feature points.

tformedPoints = transformPointsForward(points,tform);

Visualize the transformed LOAM points.

figure
show(tformedPoints)

Figure contains an axes object. The axes object contains 2 objects of type scatter.

Input Arguments

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Input points, specified as a LOAMPoints object.

Rigid 3-D transformation, specified as a rigid3d object.

Output Arguments

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Transformed points, returned as a LOAMPoints object.

Version History

Introduced in R2022a