Point Cloud Library (PCL)  1.14.1-dev
warp_point_rigid_6d.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
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_.template 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