Point Cloud Library (PCL)  1.10.0
warp_point_rigid_6d.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/warp_point_rigid.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D translation)
50  * transformations for points.
51  *
52  * \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.
53  * \author Radu B. Rusu
54  * \ingroup registration
55  */
56  template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
57  class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar>
58  {
59  public:
61 
64 
67 
68  WarpPointRigid6D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (6) {}
69 
70  /** \brief Empty destructor */
72 
73  /** \brief Set warp parameters.
74  * \note Assumes the quaternion parameters are normalized.
75  * \param[in] p warp parameters (tx ty tz qx qy qz)
76  */
77  void
78  setParam (const VectorX& p) override
79  {
80  assert (p.rows () == this->getDimension ());
81 
82  // Copy the rotation and translation components
83  transform_matrix_.setZero ();
84  transform_matrix_ (0, 3) = p[0];
85  transform_matrix_ (1, 3) = p[1];
86  transform_matrix_ (2, 3) = p[2];
87  transform_matrix_ (3, 3) = 1;
88 
89  // Compute w from the unit quaternion
90  Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
91  q.w () = static_cast<Scalar> (std::sqrt (1 - q.dot (q)));
92  q.normalize ();
93  transform_matrix_.topLeftCorner (3, 3) = q.toRotationMatrix ();
94  }
95  };
96  }
97 }
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