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 >:

Collaboration 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 = 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 () override=default
	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 ()=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...

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 64 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 ( )

overridedefault

Empty destructor.

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_.

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

• pcl/registration/warp_point_rigid_6d.h