42 #ifndef PCL_WARP_POINT_RIGID_3D_H_
43 #define PCL_WARP_POINT_RIGID_3D_H_
45 #include <pcl/registration/eigen.h>
46 #include <pcl/registration/warp_point_rigid.h>
50 namespace registration
59 template <
typename Po
intSourceT,
typename Po
intTargetT,
typename Scalar =
float>
66 typedef boost::shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >
Ptr;
67 typedef boost::shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >
ConstPtr;
81 assert (p.rows () == this->getDimension ());
84 trans = Matrix4::Zero ();
89 trans.block (0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1> (p[0], p[1], 0, 1.0);
92 Eigen::Rotation2D<Scalar> r (p[2]);
93 trans.topLeftCorner (2, 2) = r.toRotationMatrix ();