PointCloudTransformation.h

#pragma once
#include "CommonTypes.h"
#include "area_scan_3d_camera/Frame3D.h"
#include "area_scan_3d_camera/Frame2DAnd3D.h"
#include "area_scan_3d_camera/Camera.h"
#include "api_global.h"
 
namespace mmind {
namespace eye {
 
MMIND_API_EXPORT PointCloud transformPointCloud(const FrameTransformation& coordinateTransformation,
                                                const PointCloud& originalPointCloud);

MMIND_API_EXPORT PointCloudWithNormals transformPointCloudWithNormals(
    const FrameTransformation& coordinateTransformation, const PointCloud& originalPointCloud);

MMIND_API_EXPORT TexturedPointCloud
transformTexturedPointCloud(const FrameTransformation& coordinateTransformation,
                            const TexturedPointCloud& originalTexturedPointCloud);

MMIND_API_EXPORT TexturedPointCloudWithNormals
transformTexturedPointCloudWithNormals(const FrameTransformation& coordinateTransformation,
                                       const TexturedPointCloud& originalTexturedPointCloud);
MMIND_API_EXPORT FrameTransformation getTransformationParams(Camera& camera);
} // namespace eye
} // namespace mmind