Point Cloud Library (PCL): pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > Class Template Reference

Point Cloud Library (PCL) 1.7.2

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 >:

Public Types
typedef WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4	Matrix4

typedef WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX	VectorX

typedef boost::shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > >	Ptr

typedef boost::shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > >	ConstPtr

Public Types inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorX

typedef Eigen::Matrix< Scalar, 4, 1 >	Vector4

typedef boost::shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > >	Ptr

typedef boost::shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > >	ConstPtr

Public Member Functions
	WarpPointRigid6D ()

virtual	~WarpPointRigid6D ()
	Empty destructor. More...

virtual void	setParam (const VectorX &p)
	Set warp parameters. More...

Public Member Functions inherited from pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >
	WarpPointRigid (int nr_dim)
	Constructor. More...

virtual	~WarpPointRigid ()
	Destructor. 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, Scalar >
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 59 of file warp_point_rigid_6d.h.

Member Typedef Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

typedef boost::shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::ConstPtr

Definition at line 68 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

typedef WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4 pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::Matrix4

Definition at line 64 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

typedef boost::shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::Ptr

Definition at line 67 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

typedef WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::VectorX

Definition at line 65 of file warp_point_rigid_6d.h.

Constructor & Destructor Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::WarpPointRigid6D ( )

inline

Definition at line 70 of file warp_point_rigid_6d.h.

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

virtual pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::~WarpPointRigid6D ( )

inlinevirtual

Empty destructor.

Definition at line 73 of file warp_point_rigid_6d.h.

Member Function Documentation

template<typename PointSourceT , typename PointTargetT , typename Scalar = float>

virtual void pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >::setParam ( const VectorX & p )

inlinevirtual

Set warp parameters.

Note: Assumes the quaternion parameters are normalized.

Parameters

[in] p warp parameters (tx ty tz qx qy qz)

Implements pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >.

Definition at line 80 of file warp_point_rigid_6d.h.

References pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::getDimension(), and pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::transform_matrix_.

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

/build/pcl-6_P28C/pcl-1.7.2/registration/include/pcl/registration/warp_point_rigid_6d.h