Point Cloud Library (PCL)  1.9.1-dev
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pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > Class Template Reference

WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points. More...

#include <pcl/registration/warp_point_rigid_6d.h>

+ Inheritance diagram for pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >:

Public Types

using Matrix4 = typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4
 
using VectorX = typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX
 
using Ptr = boost::shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > >
 
using ConstPtr = boost::shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > >
 
- Public Types inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >
using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
 
using VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
 
using Vector4 = Eigen::Matrix< Scalar, 4, 1 >
 
using Ptr = boost::shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > >
 
using ConstPtr = boost::shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > >
 

Public Member Functions

 WarpPointRigid6D ()
 
 ~WarpPointRigid6D ()
 Empty destructor. More...
 
void setParam (const VectorX &p) override
 Set warp parameters. More...
 
- Public Member Functions inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >
 WarpPointRigid (int nr_dim)
 Constructor. More...
 
virtual ~WarpPointRigid ()
 Destructor. More...
 
void warpPoint (const PointSourceT &pnt_in, PointSourceT &pnt_out) const
 Warp a point given a transformation matrix. More...
 
void warpPoint (const PointSourceT &pnt_in, Vector4 &pnt_out) const
 Warp a point given a transformation matrix. More...
 
int getDimension () const
 Get the number of dimensions. More...
 
const Matrix4getTransform () const
 Get the Transform used. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >
int nr_dim_
 
Matrix4 transform_matrix_
 

Detailed Description

template<typename PointSourceT, typename PointTargetT, typename Scalar = float>
class pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >

WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.

Note
The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.
Author
Radu B. Rusu

Definition at line 57 of file warp_point_rigid_6d.h.

Member Typedef Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::ConstPtr = boost::shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >

Definition at line 66 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::Matrix4 = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4

Definition at line 62 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::Ptr = boost::shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >

Definition at line 65 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::VectorX = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX

Definition at line 63 of file warp_point_rigid_6d.h.

Constructor & Destructor Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::WarpPointRigid6D ( )
inline

Definition at line 68 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::~WarpPointRigid6D ( )
inline

Empty destructor.

Definition at line 71 of file warp_point_rigid_6d.h.

Member Function Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
void pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::setParam ( const VectorX p)
inlineoverridevirtual

Set warp parameters.

Note
Assumes the quaternion parameters are normalized.
Parameters
[in]pwarp parameters (tx ty tz qx qy qz)

Implements pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >.

Definition at line 78 of file warp_point_rigid_6d.h.

References pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getDimension(), and pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::transform_matrix_.


The documentation for this class was generated from the following file: