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

#include <pcl/registration/warp_point_rigid_6d.h>

Public Types

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

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, float >
WarpPointRigid (int nr_dim)
Constructor. More...
virtual ~WarpPointRigid ()
Destructor. More...
virtual void setParam (const VectorX &p)=0
Set warp parameters. 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 Matrix4 & getTransform () const
Get the Transform used. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, float >
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 56 of file warp_point_rigid_6d.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 65 of file warp_point_rigid_6d.h.

Matrix4

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 60 of file warp_point_rigid_6d.h.

Ptr

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

Definition at line 63 of file warp_point_rigid_6d.h.

VectorX

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 61 of file warp_point_rigid_6d.h.

Constructor & Destructor Documentation

WarpPointRigid6D()

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

Definition at line 67 of file warp_point_rigid_6d.h.

~WarpPointRigid6D()

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

Empty destructor.

Definition at line 70 of file warp_point_rigid_6d.h.

Member Function Documentation

setParam()

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

Set warp parameters.

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

Definition at line 77 of file warp_point_rigid_6d.h.

References pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, float >::transform_matrix_.

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_warp_point_rigid6_d.html