text: /*
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   *  Point Cloud Library (PCL) - www.pointclouds.org
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  #ifndef PCL_TRANSFORMS_H_
  #define PCL_TRANSFORMS_H_
  
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  #include <pcl/common/centroid.h>
  #include <pcl/common/eigen.h>
  #include <pcl/PointIndices.h>
  
  namespace pcl
  {
    /** \brief Apply an affine transform defined by an Eigen Transform
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                         bool copy_all_fields = true);
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Affine3f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply an affine transform defined by an Eigen Transform
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const std::vector<int> &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                         bool copy_all_fields = true);
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const std::vector<int> &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Affine3f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply an affine transform defined by an Eigen Transform
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const pcl::PointIndices &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
    }
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const pcl::PointIndices &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Affine3f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                    bool copy_all_fields = true);
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Affine3f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const std::vector<int> &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                    bool copy_all_fields = true);
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const std::vector<int> &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Affine3f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const pcl::PointIndices &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
    }
  
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const pcl::PointIndices &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Affine3f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply a rigid transform defined by a 4x4 matrix
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform a rigid transformation 
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix<Scalar, 4, 4> &transform,
                         bool copy_all_fields = true)
    {
      Eigen::Transform<Scalar, 3, Eigen::Affine> t (transform);
      return (transformPointCloud<PointT, Scalar> (cloud_in, cloud_out, t, copy_all_fields));
    }
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix4f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply a rigid transform defined by a 4x4 matrix
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform a rigid transformation 
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const std::vector<int> &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix<Scalar, 4, 4> &transform,
                         bool copy_all_fields = true)
    {
      Eigen::Transform<Scalar, 3, Eigen::Affine> t (transform);
      return (transformPointCloud<PointT, Scalar> (cloud_in, indices, cloud_out, t, copy_all_fields));
    }
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const std::vector<int> &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix4f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply a rigid transform defined by a 4x4 matrix
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform a rigid transformation 
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const pcl::PointIndices &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix<Scalar, 4, 4> &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
    }
  
    template <typename PointT> void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         const pcl::PointIndices &indices, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix4f &transform,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix<Scalar, 4, 4> &transform,
                                    bool copy_all_fields = true)
    {
      Eigen::Transform<Scalar, 3, Eigen::Affine> t (transform);
      return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, cloud_out, t, copy_all_fields));
    }
  
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix4f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const std::vector<int> &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix<Scalar, 4, 4> &transform,
                                    bool copy_all_fields = true)
    {
      Eigen::Transform<Scalar, 3, Eigen::Affine> t (transform);
      return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices, cloud_out, t, copy_all_fields));
    }
  
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const std::vector<int> &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix4f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[in] indices the set of point indices to use from the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] transform an affine transformation (typically a rigid transformation)
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      * \note Can be used with cloud_in equal to cloud_out
      * \ingroup common
      */
    template <typename PointT, typename Scalar> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const pcl::PointIndices &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix<Scalar, 4, 4> &transform,
                                    bool copy_all_fields = true)
    {
      Eigen::Transform<Scalar, 3, Eigen::Affine> t (transform);
      return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices, cloud_out, t, copy_all_fields));
    }
  
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    const pcl::PointIndices &indices, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix4f &transform,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
    }
  
    /** \brief Apply a rigid transform defined by a 3D offset and a quaternion
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] offset the translation component of the rigid transformation
      * \param[in] rotation the rotation component of the rigid transformation
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z) should be copied into the new transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> inline void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Matrix<Scalar, 3, 1> &offset, 
                         const Eigen::Quaternion<Scalar> &rotation,
                         bool copy_all_fields = true);
  
    template <typename PointT> inline void 
    transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                         pcl::PointCloud<PointT> &cloud_out, 
                         const Eigen::Vector3f &offset, 
                         const Eigen::Quaternionf &rotation,
                         bool copy_all_fields = true)
    {
      return (transformPointCloud<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
    }
  
    /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
      * \param[in] cloud_in the input point cloud
      * \param[out] cloud_out the resultant output point cloud
      * \param[in] offset the translation component of the rigid transformation
      * \param[in] rotation the rotation component of the rigid transformation
      * \param[in] copy_all_fields flag that controls whether the contents of the fields
      * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
      * transformed cloud
      * \ingroup common
      */
    template <typename PointT, typename Scalar> inline void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Matrix<Scalar, 3, 1> &offset, 
                                    const Eigen::Quaternion<Scalar> &rotation,
                                    bool copy_all_fields = true);
  
    template <typename PointT> void 
    transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                    pcl::PointCloud<PointT> &cloud_out, 
                                    const Eigen::Vector3f &offset, 
                                    const Eigen::Quaternionf &rotation,
                                    bool copy_all_fields = true)
    {
      return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
    }
  
    /** \brief Transform a point with members x,y,z
      * \param[in] point the point to transform
      * \param[out] transform the transformation to apply
      * \return the transformed point
      * \ingroup common
      */
    template <typename PointT, typename Scalar> inline PointT
    transformPoint (const PointT &point, 
                    const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
    
    template <typename PointT> inline PointT
    transformPoint (const PointT &point, 
                    const Eigen::Affine3f &transform)
    {
      return (transformPoint<PointT, float> (point, transform));
    }
  
    /** \brief Transform a point with members x,y,z,normal_x,normal_y,normal_z
      * \param[in] point the point to transform
      * \param[out] transform the transformation to apply
      * \return the transformed point
      * \ingroup common
      */
    template <typename PointT, typename Scalar> inline PointT
    transformPointWithNormal (const PointT &point, 
                    const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
    
    template <typename PointT> inline PointT
    transformPointWithNormal (const PointT &point, 
                    const Eigen::Affine3f &transform)
    {
      return (transformPointWithNormal<PointT, float> (point, transform));
    }
  
    /** \brief Calculates the principal (PCA-based) alignment of the point cloud
      * \param[in] cloud the input point cloud
      * \param[out] transform the resultant transform
      * \return the ratio lambda1/lambda2 or lambda2/lambda3, whatever is closer to 1.
      * \note If the return value is close to one then the transformation might be not unique -> two principal directions have
      * almost same variance (extend)
      */
    template <typename PointT, typename Scalar> inline double
    getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud, 
                                Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
  
    template <typename PointT> inline double
    getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud, 
                                Eigen::Affine3f &transform)
    {
      return (getPrincipalTransformation<PointT, float> (cloud, transform));
    }
  }
  
  #include <pcl/common/impl/transforms.hpp>
  
  #endif // PCL_TRANSFORMS_H_
  