146 lines
5.2 KiB
C++
146 lines
5.2 KiB
C++
/*
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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/memory.h>
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#include <pcl/pcl_macros.h>
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namespace pcl {
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namespace registration {
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/** \brief Base warp point class.
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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 WarpPointRigid {
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public:
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using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
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using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
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using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
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using Ptr = shared_ptr<WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
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using ConstPtr = shared_ptr<const WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
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/** \brief Constructor
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* \param[in] nr_dim the number of dimensions
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*/
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WarpPointRigid(int nr_dim) : nr_dim_(nr_dim), transform_matrix_(Matrix4::Zero())
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{
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transform_matrix_(3, 3) = 1.0;
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};
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/** \brief Destructor. */
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virtual ~WarpPointRigid(){};
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/** \brief Set warp parameters. Pure virtual.
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* \param[in] p warp parameters
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*/
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virtual void
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setParam(const VectorX& p) = 0;
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/** \brief Warp a point given a transformation matrix
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* \param[in] pnt_in the point to warp (transform)
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* \param[out] pnt_out the warped (transformed) point
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*/
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inline void
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warpPoint(const PointSourceT& pnt_in, PointSourceT& pnt_out) const
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{
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pnt_out.x = static_cast<float>(
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transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
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transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
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pnt_out.y = static_cast<float>(
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transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
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transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
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pnt_out.z = static_cast<float>(
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transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
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transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
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// pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner (3, 3) *
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// pnt_in.getVector3fMap () +
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// transform_matrix_.block (0, 3, 3, 1);
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// pnt_out.data[3] = pnt_in.data[3];
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}
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/** \brief Warp a point given a transformation matrix
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* \param[in] pnt_in the point to warp (transform)
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* \param[out] pnt_out the warped (transformed) point
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*/
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inline void
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warpPoint(const PointSourceT& pnt_in, Vector4& pnt_out) const
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{
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pnt_out[0] = static_cast<Scalar>(
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transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
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transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
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pnt_out[1] = static_cast<Scalar>(
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transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
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transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
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pnt_out[2] = static_cast<Scalar>(
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transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
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transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
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pnt_out[3] = 0.0;
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}
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/** \brief Get the number of dimensions. */
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inline int
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getDimension() const
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{
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return (nr_dim_);
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}
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/** \brief Get the Transform used. */
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inline const Matrix4&
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getTransform() const
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{
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return (transform_matrix_);
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}
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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protected:
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int nr_dim_;
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Matrix4 transform_matrix_;
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};
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} // namespace registration
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} // namespace pcl
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