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warp_point_rigid.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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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
namespace pcl {
namespace registration {
/** \brief Base warp point class.
*
* \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 WarpPointRigid {
public:
using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
using Ptr = shared_ptr<WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
using ConstPtr = shared_ptr<const WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
/** \brief Constructor
* \param[in] nr_dim the number of dimensions
*/
WarpPointRigid(int nr_dim) : nr_dim_(nr_dim), transform_matrix_(Matrix4::Zero())
{
transform_matrix_(3, 3) = 1.0;
};
/** \brief Destructor. */
virtual ~WarpPointRigid() = default;
/** \brief Set warp parameters. Pure virtual.
* \param[in] p warp parameters
*/
virtual void
setParam(const VectorX& p) = 0;
/** \brief Warp a point given a transformation matrix
* \param[in] pnt_in the point to warp (transform)
* \param[out] pnt_out the warped (transformed) point
*/
inline void
warpPoint(const PointSourceT& pnt_in, PointSourceT& pnt_out) const
{
pnt_out.x = static_cast<float>(
transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
pnt_out.y = static_cast<float>(
transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
pnt_out.z = static_cast<float>(
transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
// pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () *
// pnt_in.getVector3fMap () +
// transform_matrix_.block<3, 1> (0, 3);
// pnt_out.data[3] = pnt_in.data[3];
}
/** \brief Warp a point given a transformation matrix
* \param[in] pnt_in the point to warp (transform)
* \param[out] pnt_out the warped (transformed) point
*/
inline void
warpPoint(const PointSourceT& pnt_in, Vector4& pnt_out) const
{
pnt_out[0] = static_cast<Scalar>(
transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
pnt_out[1] = static_cast<Scalar>(
transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
pnt_out[2] = static_cast<Scalar>(
transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
pnt_out[3] = 0.0;
}
/** \brief Get the number of dimensions. */
inline int
getDimension() const
{
return (nr_dim_);
}
/** \brief Get the Transform used. */
inline const Matrix4&
getTransform() const
{
return (transform_matrix_);
}
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
protected:
int nr_dim_;
Matrix4 transform_matrix_;
};
} // namespace registration
} // namespace pcl
pcl::registration::WarpPointRigid
Base warp point class.
Definition warp_point_rigid.h:56
pcl::registration::WarpPointRigid::warpPoint
void warpPoint(const PointSourceT &pnt_in, Vector4 &pnt_out) const
Warp a point given a transformation matrix.
Definition warp_point_rigid.h:109
pcl::registration::WarpPointRigid::transform_matrix_
Matrix4 transform_matrix_
Definition warp_point_rigid.h:142
pcl::registration::WarpPointRigid::WarpPointRigid
WarpPointRigid(int nr_dim)
Constructor.
Definition warp_point_rigid.h:68
pcl::registration::WarpPointRigid::Ptr
shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr
Definition warp_point_rigid.h:62
pcl::registration::WarpPointRigid::~WarpPointRigid
virtual ~WarpPointRigid()=default
Destructor.
pcl::registration::WarpPointRigid::warpPoint
void warpPoint(const PointSourceT &pnt_in, PointSourceT &pnt_out) const
Warp a point given a transformation matrix.
Definition warp_point_rigid.h:87
pcl::registration::WarpPointRigid::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition warp_point_rigid.h:58
pcl::registration::WarpPointRigid::Vector4
Eigen::Matrix< Scalar, 4, 1 > Vector4
Definition warp_point_rigid.h:60
pcl::registration::WarpPointRigid::setParam
virtual void setParam(const VectorX &p)=0
Set warp parameters.
pcl::registration::WarpPointRigid::nr_dim_
int nr_dim_
Definition warp_point_rigid.h:141
pcl::registration::WarpPointRigid::ConstPtr
shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > > ConstPtr
Definition warp_point_rigid.h:63
pcl::registration::WarpPointRigid::VectorX
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
Definition warp_point_rigid.h:59
pcl::registration::WarpPointRigid::getDimension
int getDimension() const
Get the number of dimensions.
Definition warp_point_rigid.h:125
pcl::registration::WarpPointRigid::getTransform
const Matrix4 & getTransform() const
Get the Transform used.
Definition warp_point_rigid.h:132
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.