43 #include <pcl/registration/warp_point_rigid.h>
47 namespace registration
56 template <
typename Po
intSourceT,
typename Po
intTargetT,
typename Scalar =
float>
65 using Ptr = shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >;
66 using ConstPtr = shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> >;
80 assert (p.rows () == this->getDimension ());
90 Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
91 q.w () =
static_cast<Scalar
> (std::sqrt (1 - q.dot (q)));