Point Cloud Coordinate System Transform

Functional Description

This operator is used to transform input point cloud data from one coordinate system to another. It achieves this by left-multiplying the input point cloud (or list of point clouds) by a 4x4 homogeneous transformation matrix (usually a hand-eye calibration matrix). If the input point cloud has normal vector information, its normal vectors will also undergo a corresponding rotation transformation.

Usage Scenarios

Coordinate System Transformation and Data Alignment: Transform point clouds from different coordinate systems to a common reference coordinate system, for example, converting point cloud data collected in the camera coordinate system to the robot base coordinate system.

Inputs and Outputs

Input Items

Hand-eye calibration matrix: A 4x4 homogeneous transformation matrix.

Pointcloud: Input point cloud or list of point clouds to be transformed.

Output Items

Point cloud after transformation: List of point clouds after transformation to the target coordinate system.

Parameter Description

This operator has two versions:

  • Point Cloud Coordinate System Transform : Processes point clouds without normal information.

  • Point Cloud Coordinate System Transform(with Normals) : Processes point clouds with normal information and transforms the normal vectors simultaneously.

Both have identical core functionality and parameters, only differing in the type of point cloud data they process.