Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

It re-normalizes the SO3 element. Note: Because of the class invariant of SO3, there is typically no need to call this function directly.

This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

Returns the dim'th component of the idx'th point in the class:

Helper accessor to the dataset points:

* Find all the neighbors to \a query_point[0:dim-1] within a maximum radius. * The output is given as a vector of pairs, of which the first elemen

Copy constructor

Pose6DtoTransform

Must return the number of data points

Copy constructor

It re-normalizes ``unit_quaternion`` to unit length. Note: Because of the class invariant, there is typically no need to call this function directly.

* Builds the index */

Frees the previously-built index. Automatically called within * buildIndex(). */

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rotation matrices) to elements of the t

Returns scale.

* Called during search to add an element matching the criteria. * @return true if the search should be continued, false if the results are * suf

* Create a tree node that subdivides the list of vecs from vind[first] * to vind[last]. The routine is called recursively on each sublist. *

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

* @brief Normalize the given quaternion to unit quaternion. */

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m

Returns scale.

Takes in quaternion, and normalizes it. Precondition: The quaternion must not be close to zero.

Sets ``so3`` using ``rotation_matrix``. Precondition: ``R`` must be orthogonal and ``det(R)=1``.

Setter of SO(2) rotations, leaves scale as is.

Constructor from pair of real and imaginary number. Precondition: The pair must not be close to zero.

\brief Convert the lidar point cloud from the odometer to the ground coordinate system * \param[in] cloud: lidar cloud need to be convert * \param

\brief Convert the lidar point cloud from the lidar to the IMU coordinate system * \param[in] pi: lidar point need to be convert * \param[in] po:

\brief add new lidar points to the map * \param[in] laserCloudCornerStack: coner feature points that need to be added to map * \param[in] laserCloud

TransformtoPose6D

\brief Remove Lidar Distortion * \param[in] cloud: lidar cloud need to be undistorted * \param[in] dRlc: delta rotation * \param[in] dtlc: delta