Point Cloud Library (PCL)
1.10.0
pcl
registration
warp_point_rigid_6d.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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* * Redistributions of source code must retain the above copyright
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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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* contributors may be used to endorse or promote products derived
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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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{
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namespace
registration
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{
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/** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D 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 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
WarpPointRigid6D
:
public
WarpPointRigid
<PointSourceT, PointTargetT, Scalar>
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{
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public
:
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using
WarpPointRigid<PointSourceT, PointTargetT, Scalar>::transform_matrix_
;
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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<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>
>;
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using
ConstPtr
=
shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>
>;
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WarpPointRigid6D
() :
WarpPointRigid
<PointSourceT, PointTargetT, Scalar> (6) {}
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/** \brief Empty destructor */
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~WarpPointRigid6D
() {}
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/** \brief Set warp parameters.
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* \note Assumes the quaternion parameters are normalized.
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* \param[in] p warp parameters (tx ty tz qx qy qz)
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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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// Copy the rotation and translation components
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transform_matrix_
.setZero ();
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transform_matrix_
(0, 3) = p[0];
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transform_matrix_
(1, 3) = p[1];
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transform_matrix_
(2, 3) = p[2];
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transform_matrix_
(3, 3) = 1;
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// Compute w from the unit quaternion
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Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
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q.w () = static_cast<Scalar> (std::sqrt (1 - q.dot (q)));
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q.normalize ();
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transform_matrix_
.topLeftCorner (3, 3) = q.toRotationMatrix ();
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}
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};
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}
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}
pcl::registration::WarpPointRigid6D::setParam
void setParam(const VectorX &p) override
Set warp parameters.
Definition:
warp_point_rigid_6d.h:78
pcl::registration::WarpPointRigid::ConstPtr
shared_ptr< const WarpPointRigid< PointSourceT, PointTargetT, Scalar > > ConstPtr
Definition:
warp_point_rigid.h:65
pcl::registration::WarpPointRigid::transform_matrix_
Matrix4 transform_matrix_
Definition:
warp_point_rigid.h:128
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::registration::WarpPointRigid6D::~WarpPointRigid6D
~WarpPointRigid6D()
Empty destructor.
Definition:
warp_point_rigid_6d.h:71
pcl::registration::WarpPointRigid::Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Definition:
warp_point_rigid.h:60
pcl::registration::WarpPointRigid
Base warp point class.
Definition:
warp_point_rigid.h:57
pcl::registration::WarpPointRigid::VectorX
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
Definition:
warp_point_rigid.h:61
pcl::registration::WarpPointRigid::getDimension
int getDimension() const
Get the number of dimensions.
Definition:
warp_point_rigid.h:117
pcl::registration::WarpPointRigid6D
WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.
Definition:
warp_point_rigid_6d.h:57
pcl::registration::WarpPointRigid6D::WarpPointRigid6D
WarpPointRigid6D()
Definition:
warp_point_rigid_6d.h:68
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition:
pcl_macros.h:90
pcl::registration::WarpPointRigid::Ptr
shared_ptr< WarpPointRigid< PointSourceT, PointTargetT, Scalar > > Ptr
Definition:
warp_point_rigid.h:64