Point Cloud Library (PCL)  1.9.1-dev
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pcl::detail::Transformer< Scalar > Struct Template Reference

A helper struct to apply an SO3 or SE3 transform to a 3D point. More...

#include <pcl/common/impl/transforms.hpp>

Public Member Functions

 Transformer (const Eigen::Matrix< Scalar, 4, 4 > &transform)
 Construct a transformer object. More...
 
void so3 (const float *src, float *tgt) const
 Apply SO3 transform (top-left corner of the transform matrix). More...
 
void se3 (const float *src, float *tgt) const
 Apply SE3 transform. More...
 

Public Attributes

const Eigen::Matrix< Scalar, 4, 4 > & tf
 

Detailed Description

template<typename Scalar>
struct pcl::detail::Transformer< Scalar >

A helper struct to apply an SO3 or SE3 transform to a 3D point.

Supports single and double precision transform matrices.

Definition at line 57 of file transforms.hpp.

Constructor & Destructor Documentation

template<typename Scalar >
pcl::detail::Transformer< Scalar >::Transformer ( const Eigen::Matrix< Scalar, 4, 4 > &  transform)
inline

Construct a transformer object.

The transform matrix is captured by const reference. Make sure that it does not go out of scope before this object does.

Definition at line 64 of file transforms.hpp.

Referenced by pcl::detail::Transformer< Scalar >::se3().

Member Function Documentation

template<typename Scalar >
void pcl::detail::Transformer< Scalar >::se3 ( const float *  src,
float *  tgt 
) const
inline

Apply SE3 transform.

Parameters
[in]srcinput 3D point (pointer to 3 floats)
[out]tgtoutput 3D point (pointer to 4 floats), can be the same as input. The fourth element is set to 1.

Definition at line 81 of file transforms.hpp.

References pcl::detail::Transformer< Scalar >::so3(), pcl::detail::Transformer< Scalar >::tf, and pcl::detail::Transformer< Scalar >::Transformer().

template<typename Scalar >
void pcl::detail::Transformer< Scalar >::so3 ( const float *  src,
float *  tgt 
) const
inline

Apply SO3 transform (top-left corner of the transform matrix).

Parameters
[in]srcinput 3D point (pointer to 3 floats)
[out]tgtoutput 3D point (pointer to 4 floats), can be the same as input. The fourth element is set to 0.

Definition at line 69 of file transforms.hpp.

References pcl::detail::Transformer< Scalar >::tf.

Referenced by pcl::detail::Transformer< Scalar >::se3().

Member Data Documentation

template<typename Scalar >
const Eigen::Matrix<Scalar, 4, 4>& pcl::detail::Transformer< Scalar >::tf

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