94 lines
3.5 KiB
C
94 lines
3.5 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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* $Id$
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*
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*/
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#pragma once
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#include <pcl/registration/warp_point_rigid.h>
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namespace pcl {
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namespace registration {
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/** \brief @b WarpPointRigid3D enables 3D (1D rotation + 2D translation)
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* transformations for points.
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*
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* \note The class is templated on the source and target point types as well as on the
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* output scalar of the transformation matrix (i.e., float or double). Default: float.
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* \author Radu B. Rusu
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* \ingroup registration
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*/
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template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
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class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
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public:
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using Matrix4 = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4;
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using VectorX = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX;
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using Ptr = shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
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using ConstPtr =
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shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar>>;
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/** \brief Constructor. */
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WarpPointRigid3D() : WarpPointRigid<PointSourceT, PointTargetT, Scalar>(3) {}
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/** \brief Empty destructor */
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~WarpPointRigid3D() {}
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/** \brief Set warp parameters.
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* \param[in] p warp parameters (tx ty rz)
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*/
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void
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setParam(const VectorX& p) override
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{
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assert(p.rows() == this->getDimension());
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Matrix4& trans = this->transform_matrix_;
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trans = Matrix4::Zero();
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trans(3, 3) = 1;
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trans(2, 2) = 1; // Rotation around the Z-axis
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// Copy the rotation and translation components
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trans.block(0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1>(p[0], p[1], 0, 1.0);
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// Compute w from the unit quaternion
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Eigen::Rotation2D<Scalar> r(p[2]);
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trans.topLeftCorner(2, 2) = r.toRotationMatrix();
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}
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};
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} // namespace registration
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} // namespace pcl
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