Point Cloud Library (PCL)  1.15.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar > Class Template Referenceabstract
Module registration

Base warp point class. More...

#include <pcl/registration/warp_point_rigid.h>

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

Public Types

using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
 
using VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
 
using Vector4 = Eigen::Matrix< Scalar, 4, 1 >
 
using Ptr = shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > >
 
using ConstPtr = shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > >
 

Public Member Functions

 WarpPointRigid (int nr_dim)
 Constructor. More...
 
virtual ~WarpPointRigid ()=default
 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...
 

Protected Attributes

int nr_dim_
 
Matrix4 transform_matrix_
 

Detailed Description

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

Base warp point class.

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.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 63 of file warp_point_rigid.h.

◆ Matrix4

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4>

Definition at line 58 of file warp_point_rigid.h.

◆ Ptr

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

Definition at line 62 of file warp_point_rigid.h.

◆ Vector4

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Vector4 = Eigen::Matrix<Scalar, 4, 1>

Definition at line 60 of file warp_point_rigid.h.

◆ VectorX

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
using pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

Definition at line 59 of file warp_point_rigid.h.

Constructor & Destructor Documentation

◆ WarpPointRigid()

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

Constructor.

Parameters
[in]nr_dimthe number of dimensions

Definition at line 68 of file warp_point_rigid.h.

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

◆ ~WarpPointRigid()

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
virtual pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::~WarpPointRigid ( )
virtualdefault

Destructor.

Member Function Documentation

◆ getDimension()

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
int pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getDimension ( ) const
inline

Get the number of dimensions.

Definition at line 125 of file warp_point_rigid.h.

References pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::nr_dim_.

◆ getTransform()

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
const Matrix4& pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getTransform ( ) const
inline

Get the Transform used.

Definition at line 132 of file warp_point_rigid.h.

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

◆ setParam()

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

Set warp parameters.

Pure virtual.

Parameters
[in]pwarp parameters

◆ warpPoint() [1/2]

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
void pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::warpPoint ( const PointSourceT &  pnt_in,
PointSourceT &  pnt_out 
) const
inline

Warp a point given a transformation matrix.

Parameters
[in]pnt_inthe point to warp (transform)
[out]pnt_outthe warped (transformed) point

Definition at line 87 of file warp_point_rigid.h.

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

◆ warpPoint() [2/2]

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
void pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::warpPoint ( const PointSourceT &  pnt_in,
Vector4 &  pnt_out 
) const
inline

Warp a point given a transformation matrix.

Parameters
[in]pnt_inthe point to warp (transform)
[out]pnt_outthe warped (transformed) point

Definition at line 109 of file warp_point_rigid.h.

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

Member Data Documentation

◆ nr_dim_

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
int pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::nr_dim_
protected

Definition at line 141 of file warp_point_rigid.h.

Referenced by pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getDimension().

◆ transform_matrix_

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>
Matrix4 pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::transform_matrix_
protected

Definition at line 142 of file warp_point_rigid.h.

Referenced by pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getTransform(), pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::warpPoint(), and pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::WarpPointRigid().

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