pcl_transform_point_cloud1

Overview

Syntax is: pcl_transform_point_cloud input.pcd output.pcd <options>

Transform a cloud. For more information, use: pcl_transform_point_cloud -h

where options are:

-trans dx,dy,dz = the translation (default: 0.0, 0.0, 0.0)

-quat w,x,y,z = rotation as quaternion

-axisangle ax,ay,az,theta = rotation in axis-angle form

-scale x,y,z = scale each dimension with these values

-matrix v1,v2,...,v8,v9 = a 3x3 affine transform

-matrix v1,v2,...,v15,v16 = a 4x4 transformation matrix

Note: If a rotation is not specified, it will default to no rotation.

If redundant or conflicting transforms are specified, then:

-axisangle will override -quat

-matrix (3x3) will take override -axisangle and -quat

-matrix (4x4) will take override all other arguments