Transform the `sensor_orientation_` and `sensor_origin_` in `transformPointCloud`

[MuhongGuo]

I think the sensor acquisition pose is so important that it can tell where the view point is when the data is acquired and how the objects could be occluded. However, I found this information is lost after calling pcl::transformPointCloud, which is just copying the previous pose. I am curious about the reasons behind this code and would like to know the possibility of always keeping this information with the point cloud data.

https://github.com/PointCloudLibrary/pcl/blob/0b63c9e8dd63e640998ab587ae9c642eccf3b2c9/common/include/pcl/common/impl/transforms.hpp#L237-L238

[kunaltyagi]

@SergioRAgostinho @taketwo

[SergioRAgostinho]

Sounds reasonable

[kunaltyagi]

In that case, a PR is welcome @MuhongGuo

[MuhongGuo]

@kunaltyagi @SergioRAgostinho Thanks for the feedback. I will make a PR for that.

[tin1254]

@MuhongGuo Are you still interested in pushing a PR?

[sourav25998]

Hello. I would like to work on this issue. Can you please assign me this project and give me a head start?

[mvieth]

@sourav25998 As I understand it, the proposal is to go through the functions in transforms.hpp and transform the sensor origin and orientation with the same transformation as the points, instead of just copying the origin and orientation from the input point cloud.