Point Cloud Library (PCL) 1.13.1
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warp_point_rigid_6d.h
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40
41#pragma once
42
43#include <pcl/registration/warp_point_rigid.h>
44
45namespace pcl {
46namespace registration {
47/** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D translation)
48 * transformations for points.
49 *
50 * \note The class is templated on the source and target point types as well as on the
51 * output scalar of the transformation matrix (i.e., float or double). Default: float.
52 * \author Radu B. Rusu
53 * \ingroup registration
54 */
55template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
56class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
57public:
58 using WarpPointRigid<PointSourceT, PointTargetT, Scalar>::transform_matrix_;
59
62
63 using Ptr = shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>>;
64 using ConstPtr =
65 shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>>;
66
67 WarpPointRigid6D() : WarpPointRigid<PointSourceT, PointTargetT, Scalar>(6) {}
68
69 /** \brief Empty destructor */
70 ~WarpPointRigid6D() override = default;
71
72 /** \brief Set warp parameters.
73 * \note Assumes the quaternion parameters are normalized.
74 * \param[in] p warp parameters (tx ty tz qx qy qz)
75 */
76 void
77 setParam(const VectorX& p) override
78 {
79 assert(p.rows() == this->getDimension());
80
81 // Copy the rotation and translation components
82 transform_matrix_.setZero();
83 transform_matrix_(0, 3) = p[0];
84 transform_matrix_(1, 3) = p[1];
85 transform_matrix_(2, 3) = p[2];
86 transform_matrix_(3, 3) = 1;
87
88 // Compute w from the unit quaternion
89 Eigen::Quaternion<Scalar> q(0, p[3], p[4], p[5]);
90 q.w() = static_cast<Scalar>(std::sqrt(1 - q.dot(q)));
91 q.normalize();
92 transform_matrix_.topLeftCorner(3, 3) = q.toRotationMatrix();
93 }
94};
95} // namespace registration
96} // namespace pcl
WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points.
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
~WarpPointRigid6D() override=default
Empty destructor.
void setParam(const VectorX &p) override
Set warp parameters.
shared_ptr< WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > Ptr
shared_ptr< const WarpPointRigid6D< PointSourceT, PointTargetT, Scalar > > ConstPtr
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX