Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Public Attributes
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 67 of file transforms.hpp.

Constructor & Destructor Documentation

◆ Transformer()

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 74 of file transforms.hpp.

Member Function Documentation

◆ se3()

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 91 of file transforms.hpp.

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

Referenced by pcl::transformPoint(), pcl::transformPointCloud(), pcl::transformPointCloudWithNormals(), and pcl::transformPointWithNormal().

◆ so3()

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 79 of file transforms.hpp.

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

Referenced by pcl::transformPointCloudWithNormals(), and pcl::transformPointWithNormal().

Member Data Documentation

◆ tf

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: