Point Cloud Library (PCL)  1.7.0
warp_point_rigid_6d.h
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40 
41 
42 #ifndef PCL_WARP_POINT_RIGID_6D_H_
43 #define PCL_WARP_POINT_RIGID_6D_H_
44 
45 #include <pcl/registration/warp_point_rigid.h>
46 
47 namespace pcl
48 {
49  namespace registration
50  {
51  /** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D translation)
52  * transformations for points.
53  *
54  * \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.
55  * \author Radu B. Rusu
56  * \ingroup registration
57  */
58  template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
59  class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar>
60  {
61  public:
63 
66 
67  typedef boost::shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > Ptr;
68  typedef boost::shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > ConstPtr;
69 
70  WarpPointRigid6D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (6) {}
71 
72  /** \brief Empty destructor */
73  virtual ~WarpPointRigid6D () {}
74 
75  /** \brief Set warp parameters.
76  * \note Assumes the quaternion parameters are normalized.
77  * \param[in] p warp parameters (tx ty tz qx qy qz)
78  */
79  virtual void
80  setParam (const VectorX& p)
81  {
82  assert (p.rows () == this->getDimension ());
83 
84  // Copy the rotation and translation components
85  transform_matrix_.setZero ();
86  transform_matrix_ (0, 3) = p[0];
87  transform_matrix_ (1, 3) = p[1];
88  transform_matrix_ (2, 3) = p[2];
89  transform_matrix_ (3, 3) = 1;
90 
91  // Compute w from the unit quaternion
92  Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]);
93  q.w () = static_cast<Scalar> (sqrt (1 - q.dot (q)));
94  q.normalize ();
95  transform_matrix_.topLeftCorner (3, 3) = q.toRotationMatrix ();
96  }
97  };
98  }
99 }
100 
101 #endif
102 
Eigen::Matrix< Scalar, 4, 4 > Matrix4
virtual void setParam(const VectorX &p)
Set warp parameters.
WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
boost::shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > ConstPtr
boost::shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > Ptr
WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.
virtual ~WarpPointRigid6D()
Empty destructor.
WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
int getDimension() const
Get the number of dimensions.