Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_WARP_POINT_RIGID_H_ 00042 #define PCL_WARP_POINT_RIGID_H_ 00043 00044 #include <pcl/registration/eigen.h> 00045 00046 namespace pcl 00047 { 00048 namespace registration 00049 { 00050 /** \brief Base warp point class. 00051 * 00052 * \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. 00053 * \author Radu B. Rusu 00054 * \ingroup registration 00055 */ 00056 template <typename PointSourceT, typename PointTargetT, typename Scalar = float> 00057 class WarpPointRigid 00058 { 00059 public: 00060 typedef Eigen::Matrix<Scalar, 4, 4> Matrix4; 00061 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX; 00062 typedef Eigen::Matrix<Scalar, 4, 1> Vector4; 00063 00064 typedef boost::shared_ptr<WarpPointRigid<PointSourceT, PointTargetT, Scalar> > Ptr; 00065 typedef boost::shared_ptr<const WarpPointRigid<PointSourceT, PointTargetT, Scalar> > ConstPtr; 00066 00067 /** \brief Constructor 00068 * \param[in] nr_dim the number of dimensions 00069 */ 00070 WarpPointRigid (int nr_dim) 00071 : nr_dim_ (nr_dim) 00072 , transform_matrix_ (Matrix4::Zero ()) 00073 { 00074 transform_matrix_ (3, 3) = 1.0; 00075 }; 00076 00077 /** \brief Destructor. */ 00078 virtual ~WarpPointRigid () {}; 00079 00080 /** \brief Set warp parameters. Pure virtual. 00081 * \param[in] p warp parameters 00082 */ 00083 virtual void 00084 setParam (const VectorX& p) = 0; 00085 00086 /** \brief Warp a point given a transformation matrix 00087 * \param[in] pnt_in the point to warp (transform) 00088 * \param[out] pnt_out the warped (transformed) point 00089 */ 00090 inline void 00091 warpPoint (const PointSourceT& pnt_in, PointSourceT& pnt_out) const 00092 { 00093 pnt_out.x = static_cast<float> (transform_matrix_ (0, 0) * pnt_in.x + transform_matrix_ (0, 1) * pnt_in.y + transform_matrix_ (0, 2) * pnt_in.z + transform_matrix_ (0, 3)); 00094 pnt_out.y = static_cast<float> (transform_matrix_ (1, 0) * pnt_in.x + transform_matrix_ (1, 1) * pnt_in.y + transform_matrix_ (1, 2) * pnt_in.z + transform_matrix_ (1, 3)); 00095 pnt_out.z = static_cast<float> (transform_matrix_ (2, 0) * pnt_in.x + transform_matrix_ (2, 1) * pnt_in.y + transform_matrix_ (2, 2) * pnt_in.z + transform_matrix_ (2, 3)); 00096 //pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner (3, 3) * 00097 // pnt_in.getVector3fMap () + 00098 // transform_matrix_.block (0, 3, 3, 1); 00099 //pnt_out.data[3] = pnt_in.data[3]; 00100 } 00101 00102 /** \brief Warp a point given a transformation matrix 00103 * \param[in] pnt_in the point to warp (transform) 00104 * \param[out] pnt_out the warped (transformed) point 00105 */ 00106 inline void 00107 warpPoint (const PointSourceT& pnt_in, Vector4& pnt_out) const 00108 { 00109 pnt_out[0] = static_cast<Scalar> (transform_matrix_ (0, 0) * pnt_in.x + transform_matrix_ (0, 1) * pnt_in.y + transform_matrix_ (0, 2) * pnt_in.z + transform_matrix_ (0, 3)); 00110 pnt_out[1] = static_cast<Scalar> (transform_matrix_ (1, 0) * pnt_in.x + transform_matrix_ (1, 1) * pnt_in.y + transform_matrix_ (1, 2) * pnt_in.z + transform_matrix_ (1, 3)); 00111 pnt_out[2] = static_cast<Scalar> (transform_matrix_ (2, 0) * pnt_in.x + transform_matrix_ (2, 1) * pnt_in.y + transform_matrix_ (2, 2) * pnt_in.z + transform_matrix_ (2, 3)); 00112 pnt_out[3] = 0.0; 00113 } 00114 00115 /** \brief Get the number of dimensions. */ 00116 inline int 00117 getDimension () const { return (nr_dim_); } 00118 00119 /** \brief Get the Transform used. */ 00120 inline const Matrix4& 00121 getTransform () const { return (transform_matrix_); } 00122 00123 public: 00124 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00125 00126 protected: 00127 int nr_dim_; 00128 Matrix4 transform_matrix_; 00129 }; 00130 } // namespace registration 00131 } // namespace pcl 00132 00133 #endif