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Apply forward geometric transformation to points

Since R2022a



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


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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.


Input Arguments

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Input points, specified as a LOAMPoints object.

Rigid 3-D transformation, specified as a rigidtform3d object.

Output Arguments

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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

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