494 lines
24 KiB
C
494 lines
24 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#pragma once
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/common/centroid.h>
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#include <pcl/common/eigen.h>
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#include <pcl/PointIndices.h>
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namespace pcl
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{
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/** \brief Apply an affine transform defined by an Eigen Transform
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* \param[in] cloud_in the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \note Can be used with cloud_in equal to cloud_out
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, Scalar> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Apply an affine transform defined by an Eigen Transform
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, Scalar> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Apply an affine transform defined by an Eigen Transform
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param[in] cloud_in the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
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* transformed cloud
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* \note Can be used with cloud_in equal to cloud_out
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
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* transformed cloud
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
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* transformed cloud
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Affine3f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
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}
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/** \brief Apply a rigid transform defined by a 4x4 matrix
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* \param[in] cloud_in the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform a rigid transformation
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \note Can be used with cloud_in equal to cloud_out
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix<Scalar, 4, 4> &transform,
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bool copy_all_fields = true);
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix4f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
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}
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/** \brief Apply a rigid transform defined by a 4x4 matrix
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform a rigid transformation
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix<Scalar, 4, 4> &transform,
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bool copy_all_fields = true);
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const Indices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix4f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
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}
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/** \brief Apply a rigid transform defined by a 4x4 matrix
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* \param[in] cloud_in the input point cloud
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* \param[in] indices the set of point indices to use from the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform a rigid transformation
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z) should be copied into the new transformed cloud
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix<Scalar, 4, 4> &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
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}
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const pcl::PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix4f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
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}
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param[in] cloud_in the input point cloud
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* \param[out] cloud_out the resultant output point cloud
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* \param[in] transform an affine transformation (typically a rigid transformation)
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* \param[in] copy_all_fields flag that controls whether the contents of the fields
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* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
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* transformed cloud
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* \note Can be used with cloud_in equal to cloud_out
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* \ingroup common
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*/
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template <typename PointT, typename Scalar> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix<Scalar, 4, 4> &transform,
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bool copy_all_fields = true);
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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const Eigen::Matrix4f &transform,
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bool copy_all_fields = true)
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{
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return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
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}
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/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
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* \param[in] cloud_in the input point cloud
|
||
|
|
* \param[in] indices the set of point indices to use from the input point cloud
|
||
|
|
* \param[out] cloud_out the resultant output point cloud
|
||
|
|
* \param[in] transform an affine transformation (typically a rigid transformation)
|
||
|
|
* \param[in] copy_all_fields flag that controls whether the contents of the fields
|
||
|
|
* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
|
||
|
|
* transformed cloud
|
||
|
|
* \note Can be used with cloud_in equal to cloud_out
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
const Indices &indices,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix<Scalar, 4, 4> &transform,
|
||
|
|
bool copy_all_fields = true);
|
||
|
|
|
||
|
|
|
||
|
|
template <typename PointT> void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
const Indices &indices,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix4f &transform,
|
||
|
|
bool copy_all_fields = true)
|
||
|
|
{
|
||
|
|
return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
|
||
|
|
* \param[in] cloud_in the input point cloud
|
||
|
|
* \param[in] indices the set of point indices to use from the input point cloud
|
||
|
|
* \param[out] cloud_out the resultant output point cloud
|
||
|
|
* \param[in] transform an affine transformation (typically a rigid transformation)
|
||
|
|
* \param[in] copy_all_fields flag that controls whether the contents of the fields
|
||
|
|
* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
|
||
|
|
* transformed cloud
|
||
|
|
* \note Can be used with cloud_in equal to cloud_out
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
const pcl::PointIndices &indices,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix<Scalar, 4, 4> &transform,
|
||
|
|
bool copy_all_fields = true)
|
||
|
|
{
|
||
|
|
return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
template <typename PointT> void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
const pcl::PointIndices &indices,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix4f &transform,
|
||
|
|
bool copy_all_fields = true)
|
||
|
|
{
|
||
|
|
return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Apply a rigid transform defined by a 3D offset and a quaternion
|
||
|
|
* \param[in] cloud_in the input point cloud
|
||
|
|
* \param[out] cloud_out the resultant output point cloud
|
||
|
|
* \param[in] offset the translation component of the rigid transformation
|
||
|
|
* \param[in] rotation the rotation component of the rigid transformation
|
||
|
|
* \param[in] copy_all_fields flag that controls whether the contents of the fields
|
||
|
|
* (other than x, y, z) should be copied into the new transformed cloud
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> inline void
|
||
|
|
transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix<Scalar, 3, 1> &offset,
|
||
|
|
const Eigen::Quaternion<Scalar> &rotation,
|
||
|
|
bool copy_all_fields = true);
|
||
|
|
|
||
|
|
template <typename PointT> inline void
|
||
|
|
transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Vector3f &offset,
|
||
|
|
const Eigen::Quaternionf &rotation,
|
||
|
|
bool copy_all_fields = true)
|
||
|
|
{
|
||
|
|
return (transformPointCloud<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
|
||
|
|
* \param[in] cloud_in the input point cloud
|
||
|
|
* \param[out] cloud_out the resultant output point cloud
|
||
|
|
* \param[in] offset the translation component of the rigid transformation
|
||
|
|
* \param[in] rotation the rotation component of the rigid transformation
|
||
|
|
* \param[in] copy_all_fields flag that controls whether the contents of the fields
|
||
|
|
* (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
|
||
|
|
* transformed cloud
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> inline void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Matrix<Scalar, 3, 1> &offset,
|
||
|
|
const Eigen::Quaternion<Scalar> &rotation,
|
||
|
|
bool copy_all_fields = true);
|
||
|
|
|
||
|
|
template <typename PointT> void
|
||
|
|
transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
|
||
|
|
pcl::PointCloud<PointT> &cloud_out,
|
||
|
|
const Eigen::Vector3f &offset,
|
||
|
|
const Eigen::Quaternionf &rotation,
|
||
|
|
bool copy_all_fields = true)
|
||
|
|
{
|
||
|
|
return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Transform a point with members x,y,z
|
||
|
|
* \param[in] point the point to transform
|
||
|
|
* \param[out] transform the transformation to apply
|
||
|
|
* \return the transformed point
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> inline PointT
|
||
|
|
transformPoint (const PointT &point,
|
||
|
|
const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
|
||
|
|
|
||
|
|
template <typename PointT> inline PointT
|
||
|
|
transformPoint (const PointT &point,
|
||
|
|
const Eigen::Affine3f &transform)
|
||
|
|
{
|
||
|
|
return (transformPoint<PointT, float> (point, transform));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Transform a point with members x,y,z,normal_x,normal_y,normal_z
|
||
|
|
* \param[in] point the point to transform
|
||
|
|
* \param[out] transform the transformation to apply
|
||
|
|
* \return the transformed point
|
||
|
|
* \ingroup common
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> inline PointT
|
||
|
|
transformPointWithNormal (const PointT &point,
|
||
|
|
const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
|
||
|
|
|
||
|
|
template <typename PointT> inline PointT
|
||
|
|
transformPointWithNormal (const PointT &point,
|
||
|
|
const Eigen::Affine3f &transform)
|
||
|
|
{
|
||
|
|
return (transformPointWithNormal<PointT, float> (point, transform));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Calculates the principal (PCA-based) alignment of the point cloud
|
||
|
|
* \param[in] cloud the input point cloud
|
||
|
|
* \param[out] transform the resultant transform
|
||
|
|
* \return the ratio lambda1/lambda2 or lambda2/lambda3, whatever is closer to 1.
|
||
|
|
* \note If the return value is close to one then the transformation might be not unique -> two principal directions have
|
||
|
|
* almost same variance (extend)
|
||
|
|
*/
|
||
|
|
template <typename PointT, typename Scalar> inline double
|
||
|
|
getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud,
|
||
|
|
Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
|
||
|
|
|
||
|
|
template <typename PointT> inline double
|
||
|
|
getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud,
|
||
|
|
Eigen::Affine3f &transform)
|
||
|
|
{
|
||
|
|
return (getPrincipalTransformation<PointT, float> (cloud, transform));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#include <pcl/common/impl/transforms.hpp>
|