Point Cloud Library (PCL) 1.13.1
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warp_point_rigid_3d.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 3D (1D rotation + 2D 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 WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
57public:
60
61 using Ptr = shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
62 using ConstPtr =
63 shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
64
65 /** \brief Constructor. */
66 WarpPointRigid3D() : WarpPointRigid<PointSourceT, PointTargetT, Scalar>(3) {}
67
68 /** \brief Empty destructor */
69 ~WarpPointRigid3D() override = default;
70
71 /** \brief Set warp parameters.
72 * \param[in] p warp parameters (tx ty rz)
73 */
74 void
75 setParam(const VectorX& p) override
76 {
77 assert(p.rows() == this->getDimension());
78 Matrix4& trans = this->transform_matrix_;
79
80 trans = Matrix4::Zero();
81 trans(3, 3) = 1;
82 trans(2, 2) = 1; // Rotation around the Z-axis
83
84 // Copy the rotation and translation components
85 trans.block(0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1>(p[0], p[1], 0, 1.0);
86
87 // Compute w from the unit quaternion
88 Eigen::Rotation2D<Scalar> r(p[2]);
89 trans.topLeftCorner(2, 2) = r.toRotationMatrix();
90 }
91};
92} // namespace registration
93} // namespace pcl
WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points.
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::VectorX VectorX
void setParam(const VectorX &p) override
Set warp parameters.
shared_ptr< WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > Ptr
typename WarpPointRigid< PointSourceT, PointTargetT, Scalar >::Matrix4 Matrix4
~WarpPointRigid3D() override=default
Empty destructor.
shared_ptr< const WarpPointRigid3D< PointSourceT, PointTargetT, Scalar > > ConstPtr
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX