Point Cloud Library (PCL)
1.12.0
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pcl
registration
warp_point_rigid_3d.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/registration/warp_point_rigid.h>
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namespace
pcl
{
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namespace
registration {
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/** \brief @b WarpPointRigid3D enables 3D (1D rotation + 2D translation)
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* transformations for points.
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*
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* \note The class is templated on the source and target point types as well as on the
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* output scalar of the transformation matrix (i.e., float or double). Default: float.
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* \author Radu B. Rusu
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* \ingroup registration
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*/
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template
<
typename
Po
int
SourceT,
typename
Po
int
TargetT,
typename
Scalar =
float
>
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class
WarpPointRigid3D
:
public
WarpPointRigid
<PointSourceT, PointTargetT, Scalar> {
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public
:
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using
Matrix4
=
typename
WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4
;
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using
VectorX
=
typename
WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX
;
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using
Ptr
= shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
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using
ConstPtr
=
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shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
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/** \brief Constructor. */
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WarpPointRigid3D
() :
WarpPointRigid
<PointSourceT, PointTargetT, Scalar>(3) {}
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/** \brief Empty destructor */
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~WarpPointRigid3D
() {}
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/** \brief Set warp parameters.
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* \param[in] p warp parameters (tx ty rz)
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*/
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void
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setParam
(
const
VectorX
& p)
override
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{
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assert(p.rows() == this->getDimension());
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Matrix4
& trans = this->
transform_matrix_
;
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trans = Matrix4::Zero();
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trans(3, 3) = 1;
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trans(2, 2) = 1;
// Rotation around the Z-axis
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// Copy the rotation and translation components
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trans.block(0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1>(p[0], p[1], 0, 1.0);
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// Compute w from the unit quaternion
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Eigen::Rotation2D<Scalar> r(p[2]);
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trans.topLeftCorner(2, 2) = r.toRotationMatrix();
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}
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};
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}
// namespace registration
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}
// namespace pcl
pcl::registration::WarpPointRigid3D
WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points.
Definition
warp_point_rigid_3d.h:56
pcl::registration::WarpPointRigid3D::VectorX
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
Definition
warp_point_rigid_3d.h:59
pcl::registration::WarpPointRigid3D::setParam
void setParam(const VectorX &p) override
Set warp parameters.
Definition
warp_point_rigid_3d.h:75
pcl::registration::WarpPointRigid3D::Matrix4
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
Definition
warp_point_rigid_3d.h:58
pcl::registration::WarpPointRigid3D::Ptr
shared_ptr< WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > Ptr
Definition
warp_point_rigid_3d.h:61
pcl::registration::WarpPointRigid3D::ConstPtr
shared_ptr< const WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > ConstPtr
Definition
warp_point_rigid_3d.h:62
pcl::registration::WarpPointRigid3D::~WarpPointRigid3D
~WarpPointRigid3D()
Empty destructor.
Definition
warp_point_rigid_3d.h:69
pcl::registration::WarpPointRigid3D::WarpPointRigid3D
WarpPointRigid3D()
Constructor.
Definition
warp_point_rigid_3d.h:66
pcl::registration::WarpPointRigid
Base warp point class.
Definition
warp_point_rigid.h:56
pcl::registration::WarpPointRigid::transform_matrix_
Matrix4 transform_matrix_
Definition
warp_point_rigid.h:142
pcl::registration::WarpPointRigid::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition
warp_point_rigid.h:58
pcl::registration::WarpPointRigid::VectorX
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
Definition
warp_point_rigid.h:59
pcl
Definition
convolution.h:46