Point Cloud Library (PCL)  1.14.1-dev
warp_point_rigid_3d.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 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  */
55 template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
56 class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
57 public:
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.template block<4, 1>(0, 3) = 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.template 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