Point Cloud Library (PCL) 1.12.0
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warp_point_rigid.h
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40
41#pragma once
42
43#include <pcl/memory.h>
44#include <pcl/pcl_macros.h>
45
46namespace pcl {
47namespace registration {
48/** \brief Base warp point class.
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 */
55template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
57public:
58 using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
59 using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
60 using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
61
64
65 /** \brief Constructor
66 * \param[in] nr_dim the number of dimensions
67 */
69 {
70 transform_matrix_(3, 3) = 1.0;
71 };
72
73 /** \brief Destructor. */
74 virtual ~WarpPointRigid(){};
75
76 /** \brief Set warp parameters. Pure virtual.
77 * \param[in] p warp parameters
78 */
79 virtual void
80 setParam(const VectorX& p) = 0;
81
82 /** \brief Warp a point given a transformation matrix
83 * \param[in] pnt_in the point to warp (transform)
84 * \param[out] pnt_out the warped (transformed) point
85 */
86 inline void
88 {
89 pnt_out.x = static_cast<float>(
90 transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
92 pnt_out.y = static_cast<float>(
93 transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
95 pnt_out.z = static_cast<float>(
96 transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
98 // pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner (3, 3) *
99 // pnt_in.getVector3fMap () +
100 // transform_matrix_.block (0, 3, 3, 1);
101 // pnt_out.data[3] = pnt_in.data[3];
102 }
103
104 /** \brief Warp a point given a transformation matrix
105 * \param[in] pnt_in the point to warp (transform)
106 * \param[out] pnt_out the warped (transformed) point
107 */
108 inline void
110 {
111 pnt_out[0] = static_cast<Scalar>(
112 transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
113 transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
114 pnt_out[1] = static_cast<Scalar>(
115 transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
116 transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
117 pnt_out[2] = static_cast<Scalar>(
118 transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
119 transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
120 pnt_out[3] = 0.0;
121 }
122
123 /** \brief Get the number of dimensions. */
124 inline int
126 {
127 return (nr_dim_);
128 }
129
130 /** \brief Get the Transform used. */
131 inline const Matrix4&
133 {
134 return (transform_matrix_);
135 }
136
137public:
139
140protected:
143};
144} // namespace registration
145} // namespace pcl
Iterator class for point clouds with or without given indices.
void warpPoint(const PointSourceT &pnt_in, Vector4 &pnt_out) const
Warp a point given a transformation matrix.
WarpPointRigid(int nr_dim)
Constructor.
void warpPoint(const PointSourceT &pnt_in, PointSourceT &pnt_out) const
Warp a point given a transformation matrix.
Eigen::Matrix< Scalar, 4, 4 > Matrix4
Eigen::Matrix< Scalar, 4, 1 > Vector4
virtual void setParam(const VectorX &p)=0
Set warp parameters.
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorX
int getDimension() const
Get the number of dimensions.
const Matrix4 & getTransform() const
Get the Transform used.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.