Transform Point Cloud to Specified Coordinate Frame

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Feature Description

This Step group can transform point cloud from camera or robot coordinate frame to a user-specified coordinate frame.

Application Scenario

This Step group is suitable for general scenarios where point cloud needs to be transformed between different coordinate frames.

Input and Output

Input

Input Port Data Type Description

Raw point cloud

PointCloud/XYZNormal[]

Point cloud to be transformed.

Raw pose

Pose[]

Pose of the coordinate frame where current point cloud is located (inverse is used for coordinate frame transformation).

Output

Output Port Data Type Description

Transformed point cloud

PointCloud/XYZNormal[]

Point cloud transformed from current coordinate frame to specified coordinate frame.

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