42 #ifndef PCL_WARP_POINT_RIGID_6D_H_ 43 #define PCL_WARP_POINT_RIGID_6D_H_ 45 #include <pcl/registration/warp_point_rigid.h> 49 namespace registration
58 template <
typename Po
intSourceT,
typename Po
intTargetT,
typename Scalar =
float>
67 typedef boost::shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >
Ptr;
68 typedef boost::shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >
ConstPtr;
92 Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
93 q.w () =
static_cast<Scalar
> (sqrt (1 - q.dot (q)));
Eigen::Matrix< Scalar, 4, 4 > Matrix4
This file defines compatibility wrappers for low level I/O functions.
virtual void setParam(const VectorX &p)
Set warp parameters.
WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
boost::shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > ConstPtr
boost::shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > Ptr
WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.
virtual ~WarpPointRigid6D()
Empty destructor.
WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
int getDimension() const
Get the number of dimensions.
Matrix4 transform_matrix_