Point Cloud Library (PCL)  1.9.1-dev
warp_point_rigid_3d.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/eigen.h>
44 #include <pcl/registration/warp_point_rigid.h>
45 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** \brief @b WarpPointRigid3D enables 3D (1D rotation + 2D translation)
51  * transformations for points.
52  *
53  * \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.
54  * \author Radu B. Rusu
55  * \ingroup registration
56  */
57  template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
58  class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar>
59  {
60  public:
63 
64  using Ptr = boost::shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >;
65  using ConstPtr = boost::shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> >;
66 
67  /** \brief Constructor. */
68  WarpPointRigid3D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (3) {}
69 
70  /** \brief Empty destructor */
72 
73  /** \brief Set warp parameters.
74  * \param[in] p warp parameters (tx ty rz)
75  */
76  void
77  setParam (const VectorX & p) override
78  {
79  assert (p.rows () == this->getDimension ());
80  Matrix4 &trans = this->transform_matrix_;
81 
82  trans = Matrix4::Zero ();
83  trans (3, 3) = 1;
84  trans (2, 2) = 1; // Rotation around the Z-axis
85 
86  // Copy the rotation and translation components
87  trans.block (0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1> (p[0], p[1], 0, 1.0);
88 
89  // Compute w from the unit quaternion
90  Eigen::Rotation2D<Scalar> r (p[2]);
91  trans.topLeftCorner (2, 2) = r.toRotationMatrix ();
92  }
93  };
94  }
95 }
void setParam(const VectorX &p) override
Set warp parameters.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Eigen::Matrix< Scalar, 4, 4 > Matrix4
boost::shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points.
boost::shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > > ConstPtr
int getDimension() const
Get the number of dimensions.