pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar > Class Template Reference

Base warp point class. More...

#include <warp_point_rigid.h>

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

List of all members.

Public Types
typedef boost::shared_ptr < const WarpPointRigid < PointSourceT, PointTargetT, Scalar > >	ConstPtr
typedef Eigen::Matrix< Scalar, 4, 4 >	Matrix4
typedef boost::shared_ptr < WarpPointRigid< PointSourceT, PointTargetT, Scalar > >	Ptr
typedef Eigen::Matrix< Scalar, 4, 1 >	Vector4
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorX
Public Member Functions
int	getDimension () const
	Get the number of dimensions.
const Matrix4 &	getTransform () const
	Get the Transform used.
virtual void	setParam (const VectorX &p)=0
	Set warp parameters. Pure virtual.
void	warpPoint (const PointSourceT &pnt_in, PointSourceT &pnt_out) const
	Warp a point given a transformation matrix.
void	warpPoint (const PointSourceT &pnt_in, Vector4 &pnt_out) const
	Warp a point given a transformation matrix.
	WarpPointRigid (int nr_dim)
	Constructor.
virtual	~WarpPointRigid ()
	Destructor.
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 57 of file warp_point_rigid.h.

---

Member Typedef Documentation

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

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

Reimplemented in pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >, and pcl::registration::WarpPointRigid3D< PointSourceT, PointTargetT, Scalar >.

Definition at line 65 of file warp_point_rigid.h.

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

typedef Eigen::Matrix<Scalar, 4, 4> pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4

Reimplemented in pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >, and pcl::registration::WarpPointRigid3D< PointSourceT, PointTargetT, Scalar >.

Definition at line 60 of file warp_point_rigid.h.

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

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

Reimplemented in pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >, and pcl::registration::WarpPointRigid3D< PointSourceT, PointTargetT, Scalar >.

Definition at line 64 of file warp_point_rigid.h.

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

typedef Eigen::Matrix<Scalar, 4, 1> pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Vector4

Definition at line 62 of file warp_point_rigid.h.

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

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX

Reimplemented in pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >, and pcl::registration::WarpPointRigid3D< PointSourceT, PointTargetT, Scalar >.

Definition at line 61 of file warp_point_rigid.h.

---

Constructor & Destructor Documentation

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

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

(

int

nr_dim

)

[inline]

Constructor.

Parameters:

[in]

nr_dim

the number of dimensions

Definition at line 70 of file warp_point_rigid.h.

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

virtual pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::~WarpPointRigid

(

)

[inline, virtual]

Destructor.

Definition at line 78 of file warp_point_rigid.h.

---

Member Function Documentation

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 117 of file warp_point_rigid.h.

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 121 of file warp_point_rigid.h.

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]

p

warp parameters

Implemented in pcl::registration::WarpPointRigid6D< PointSourceT, PointTargetT, Scalar >, and pcl::registration::WarpPointRigid3D< PointSourceT, PointTargetT, Scalar >.

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_in	the point to warp (transform)
[out]	pnt_out	the warped (transformed) point

Definition at line 91 of file warp_point_rigid.h.

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_in	the point to warp (transform)
[out]	pnt_out	the warped (transformed) point

Definition at line 107 of file warp_point_rigid.h.

---

Member Data Documentation

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

int pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::nr_dim_ [protected]

Definition at line 127 of file warp_point_rigid.h.

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

Matrix4 pcl::registration::WarpPointRigid< PointSourceT, PointTargetT, Scalar >::transform_matrix_ [protected]

Definition at line 128 of file warp_point_rigid.h.

---

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

• warp_point_rigid.h