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warp_point_rigid_3d.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
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* $Id$
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#pragma once
#include <pcl/registration/warp_point_rigid.h>
namespace pcl {
namespace registration {
/** \brief @b WarpPointRigid3D enables 3D (1D rotation + 2D translation)
* transformations for points.
*
* \note The class is templated on the source and target point types as well as on the
* output scalar of the transformation matrix (i.e., float or double). Default: float.
* \author Radu B. Rusu
* \ingroup registration
*/
template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
public:
using Matrix4 = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4;
using VectorX = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX;
using Ptr = shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
using ConstPtr =
shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
/** \brief Constructor. */
WarpPointRigid3D() : WarpPointRigid<PointSourceT, PointTargetT, Scalar>(3) {}
/** \brief Empty destructor */
~WarpPointRigid3D() override = default;
/** \brief Set warp parameters.
* \param[in] p warp parameters (tx ty rz)
*/
void
setParam(const VectorX& p) override
{
assert(p.rows() == this->getDimension());
Matrix4& trans = this->transform_matrix_;
trans = Matrix4::Zero();
trans(3, 3) = 1;
trans(2, 2) = 1; // Rotation around the Z-axis
// Copy the rotation and translation components
trans.template block<4, 1>(0, 3) = Eigen::Matrix<Scalar, 4, 1>(p[0], p[1], 0, 1.0);
// Compute w from the unit quaternion
Eigen::Rotation2D<Scalar> r(p[2]);
trans.template topLeftCorner<2, 2>() = r.toRotationMatrix();
}
};
} // namespace registration
} // 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::Ptr
shared_ptr< WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > Ptr
Definition warp_point_rigid_3d.h:61
pcl::registration::WarpPointRigid3D::Matrix4
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
Definition warp_point_rigid_3d.h:58
pcl::registration::WarpPointRigid3D::~WarpPointRigid3D
~WarpPointRigid3D() override=default
Empty destructor.
pcl::registration::WarpPointRigid3D::ConstPtr
shared_ptr< const WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > ConstPtr
Definition warp_point_rigid_3d.h:63
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