Point Cloud Library (PCL)
1.10.0
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43 #include <pcl/registration/warp_point_rigid.h>
47 namespace registration
56 template <
typename Po
intSourceT,
typename Po
intTargetT,
typename Scalar =
float>
80 assert (p.rows () == this->getDimension ());
90 Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
91 q.w () =
static_cast<Scalar
> (std::sqrt (1 - q.dot (q)));
void setParam(const VectorX &p) override
Set warp parameters.
Matrix4 transform_matrix_
This file defines compatibility wrappers for low level I/O functions.
shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > Ptr
~WarpPointRigid6D()
Empty destructor.
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > ConstPtr
WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.