Transform Point Clouds¶
Function
This Step can transform point clouds from one reference frame to another, or transform within its own reference frame according to the reference pose.
![../../../../_images/functional_description16.png](../../../../_images/functional_description16.png)
Sample Scenario
This Step is usually used to transform point clouds between camera reference frame and robot reference frame.
Input and Output
![../../../../_images/input_output_06.png](../../../../_images/input_output_06.png)
Parameters
CameraToRobot: transform point clouds from camera reference frame to robot reference frame.
RobotToCamera: transform point clouds from robot reference frame to camera reference frame.
AllWithFrst: transform all point clouds to the reference frame of the first reference pose.
FirstWithAll: transform the first point cloud to the reference frame of reference pose.
UseCorrespondenceInput: transform all point clouds to the reference frame of the corresponding reference pose respectively.