Point Cloud Library (PCL)  1.12.1-dev
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 namespace 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  */
55 template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
56 class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
57 public:
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