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 00042 #ifndef PCL_WARP_POINT_RIGID_6D_H_ 00043 #define PCL_WARP_POINT_RIGID_6D_H_ 00044 00045 #include <pcl/registration/warp_point_rigid.h> 00046 00047 namespace pcl 00048 { 00049 namespace registration 00050 { 00051 /** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D translation) 00052 * transformations for points. 00053 * 00054 * \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. 00055 * \author Radu B. Rusu 00056 * \ingroup registration 00057 */ 00058 template <typename PointSourceT, typename PointTargetT, typename Scalar = float> 00059 class WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> 00060 { 00061 public: 00062 using WarpPointRigid<PointSourceT, PointTargetT, Scalar>::transform_matrix_; 00063 00064 typedef typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4 Matrix4; 00065 typedef typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX VectorX; 00066 00067 typedef boost::shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > Ptr; 00068 typedef boost::shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar> > ConstPtr; 00069 00070 WarpPointRigid6D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (6) {} 00071 00072 /** \brief Empty destructor */ 00073 virtual ~WarpPointRigid6D () {} 00074 00075 /** \brief Set warp parameters. 00076 * \note Assumes the quaternion parameters are normalized. 00077 * \param[in] p warp parameters (tx ty tz qx qy qz) 00078 */ 00079 virtual void 00080 setParam (const VectorX& p) 00081 { 00082 assert (p.rows () == this->getDimension ()); 00083 00084 // Copy the rotation and translation components 00085 transform_matrix_.setZero (); 00086 transform_matrix_ (0, 3) = p[0]; 00087 transform_matrix_ (1, 3) = p[1]; 00088 transform_matrix_ (2, 3) = p[2]; 00089 transform_matrix_ (3, 3) = 1; 00090 00091 // Compute w from the unit quaternion 00092 Eigen::Quaternion<Scalar> q (0, p[3], p[4], p[5]); 00093 q.w () = static_cast<Scalar> (sqrt (1 - q.dot (q))); 00094 q.normalize (); 00095 transform_matrix_.topLeftCorner (3, 3) = q.toRotationMatrix (); 00096 } 00097 }; 00098 } 00099 } 00100 00101 #endif 00102