Transform Point Cloud to Specified Frame

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Function

This Procedure transforms point clouds from camera or robot reference frames to user-specified reference frames.

Usage Scenario

This Procedure is suitable for general scenarios where point clouds need to be transformed between different reference frames.

Input and Output

Input

Input port Data type Description

Original Point Clouds

PointCloud/XYZNormal[]

Point cloud to be transformed.

Original Poses

Pose[]

Pose of the point cloud’s current reference frame (inverted for transformation).

Output

Output port Data type Description

Transformed Point Clouds

PointCloud/XYZNormal[]

Transformed point cloud in the specified reference frame.

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