41 #ifndef PCL_WARP_POINT_RIGID_H_
42 #define PCL_WARP_POINT_RIGID_H_
44 #include <pcl/registration/eigen.h>
48 namespace registration
56 template <
typename Po
intSourceT,
typename Po
intTargetT,
typename Scalar =
float>
60 typedef Eigen::Matrix<Scalar, 4, 4>
Matrix4;
61 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
VectorX;
62 typedef Eigen::Matrix<Scalar, 4, 1>
Vector4;
64 typedef boost::shared_ptr<WarpPointRigid<PointSourceT, PointTargetT, Scalar> >
Ptr;
65 typedef boost::shared_ptr<const WarpPointRigid<PointSourceT, PointTargetT, Scalar> >
ConstPtr;
91 warpPoint (
const PointSourceT& pnt_in, PointSourceT& pnt_out)
const
124 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
WarpPointRigid(int nr_dim)
Constructor.
void warpPoint(const PointSourceT &pnt_in, Vector4 &pnt_out) const
Warp a point given a transformation matrix.
virtual void setParam(const VectorX &p)=0
Set warp parameters.
void warpPoint(const PointSourceT &pnt_in, PointSourceT &pnt_out) const
Warp a point given a transformation matrix.
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
boost::shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr
const Matrix4 & getTransform() const
Get the Transform used.
int getDimension() const
Get the number of dimensions.
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Matrix4 transform_matrix_
boost::shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > > ConstPtr
Eigen::Matrix< Scalar, 4, 1 > Vector4
virtual ~WarpPointRigid()
Destructor.