cloudViewer::PointProjectionTools::Transformation Struct Reference

A scaled geometrical transformation (scale + rotation + translation) More...

#include <PointProjectionTools.h>

Collaboration diagram for cloudViewer::PointProjectionTools::Transformation:

Public Member Functions
	Transformation ()
	Default constructor. More...
CCVector3d	apply (const CCVector3d &P) const
	Applies the transformation to a point. More...
CCVector3	apply (const CCVector3 &P) const
	Applies the transformation to a point. More...
void	apply (GenericIndexedCloudPersist &cloud) const
	Applies the transformation to a cloud. More...

Public Attributes
SquareMatrixd	R
	Rotation. More...
CCVector3d	T
	Translation. More...
double	s
	Scale. More...

Detailed Description

A scaled geometrical transformation (scale + rotation + translation)

P' = s.R.P + T

Definition at line 40 of file PointProjectionTools.h.

Constructor & Destructor Documentation

Transformation()

cloudViewer::PointProjectionTools::Transformation::Transformation ( )

inline

Default constructor.

Definition at line 49 of file PointProjectionTools.h.

Member Function Documentation

apply() [1/3]

CCVector3 cloudViewer::PointProjectionTools::Transformation::apply ( const CCVector3 &  P ) const

inline

Applies the transformation to a point.

Definition at line 57 of file PointProjectionTools.h.

References Vector3Tpl< Type >::toPC().

apply() [2/3]

CCVector3d cloudViewer::PointProjectionTools::Transformation::apply ( const CCVector3d &  P ) const

inline

Applies the transformation to a point.

Definition at line 52 of file PointProjectionTools.h.

Referenced by apply(), cloudViewer::PointProjectionTools::applyTransformation(), ccPointPairRegistrationDlg::callHornRegistration(), cloudViewer::HornRegistrationTools::ComputeRMS(), cloudViewer::RegistrationTools::FilterTransformation(), cloudViewer::ICPRegistrationTools::Register(), and cloudViewer::RegistrationTools::RegistrationProcedure().

apply() [3/3]

void PointProjectionTools::Transformation::apply

(

GenericIndexedCloudPersist &

cloud

)

const

Applies the transformation to a cloud.

Warning

THIS METHOD IS NOT COMPATIBLE WITH PARALLEL STRATEGIES

The caller should invalidate the bounding-box manually afterwards

Definition at line 826 of file PointProjectionTools.cpp.

References apply(), cloudViewer::GenericIndexedCloud::getNormal(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::GenericIndexedCloud::normalsAvailable(), R, and cloudViewer::GenericCloud::size().

Member Data Documentation

R

SquareMatrixd cloudViewer::PointProjectionTools::Transformation::R

Rotation.

Definition at line 42 of file PointProjectionTools.h.

Referenced by ccPointPairRegistrationDlg::align(), ccPointPairRegistrationDlg::apply(), apply(), cloudViewer::PointProjectionTools::applyTransformation(), cloudViewer::FPCSRegistrationTools::ComputeRegistrationScore(), cloudViewer::RegistrationTools::FilterTransformation(), ccRegistrationTools::ICP(), cloudViewer::ICPRegistrationTools::Register(), cloudViewer::FPCSRegistrationTools::RegisterClouds(), and cloudViewer::RegistrationTools::RegistrationProcedure().

s

double cloudViewer::PointProjectionTools::Transformation::s

Scale.

Definition at line 46 of file PointProjectionTools.h.

Referenced by ccPointPairRegistrationDlg::align(), ccPointPairRegistrationDlg::apply(), ccRegistrationTools::ICP(), cloudViewer::ICPRegistrationTools::Register(), and cloudViewer::RegistrationTools::RegistrationProcedure().

T

CCVector3d cloudViewer::PointProjectionTools::Transformation::T

Translation.

Definition at line 44 of file PointProjectionTools.h.

Referenced by ccPointPairRegistrationDlg::align(), ccPointPairRegistrationDlg::apply(), cloudViewer::FPCSRegistrationTools::ComputeRegistrationScore(), cloudViewer::RegistrationTools::FilterTransformation(), ccRegistrationTools::ICP(), cloudViewer::ICPRegistrationTools::Register(), cloudViewer::FPCSRegistrationTools::RegisterClouds(), and cloudViewer::RegistrationTools::RegistrationProcedure().

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The documentation for this struct was generated from the following files:

• /root/ACloudViewer/core/include/PointProjectionTools.h
• /root/ACloudViewer/core/src/PointProjectionTools.cpp