transformPointsForward

R2026b

Apply forward geometric transformation to points

Since R2022a

Syntax

pointsOut = transformPointsForward(pointsIn,tform)

Description

pointsOut = transformPointsForward(pointsIn,tform) applies the forward geometric transformation tform to the input pointsIn and returns the transformed LOAM feature points.

Examples

Transform LOAM Feature Points

Load an organized lidar point cloud from a MAT file.

ld = load("drivingLidarPoints.mat");
ptCloud = ld.ptCloud;

Detect LOAM feature points.

points = detectLOAMFeatures(ptCloud);

Define a rigid transformation object.

tform = rigidtform3d([0 0 0],[2 1 4]);

Transform the LOAM feature points.

tformedPoints = transformPointsForward(points,tform);

Visualize the transformed LOAM points.

figure
show(tformedPoints)

Input Arguments

pointsIn — Input points

LOAMPoints object

Input points, specified as a LOAMPoints object.

tform — Rigid 3-D transformation

rigidtform3d object

Rigid 3-D transformation, specified as a rigidtform3d (Image Processing Toolbox) object.

Output Arguments

pointsOut — Transformed points

LOAMPoints object

Transformed points, returned as a LOAMPoints object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2022a

R2022b: Supports rigidtform3d objects

You can now specify tform, as a rigidtform3d (Image Processing Toolbox) object, which uses the premultiply convention. Although you can still specify tform as a rigid3d (Image Processing Toolbox) object, this object is not recommended because it uses the postmultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention (Image Processing Toolbox).