warp_point_rigid.h

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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
 
namespace pcl {
namespace registration {
/** \brief Base warp point class.
 *
 * \note The class is templated on the source and target point types as well as on the
 * output scalar of the transformation matrix (i.e., float or double). Default: float.
 * \author Radu B. Rusu
 * \ingroup registration
 */
template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
class WarpPointRigid {
public:
  using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
  using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
  using Vector4 = Eigen::Matrix<Scalar, 4, 1>;
 
  using Ptr = shared_ptr<WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
  using ConstPtr = shared_ptr<const WarpPointRigid<PointSourceT, PointTargetT, Scalar>>;
 
  /** \brief Constructor
   * \param[in] nr_dim the number of dimensions
   */
  WarpPointRigid(int nr_dim) : nr_dim_(nr_dim), transform_matrix_(Matrix4::Zero())
  {
    transform_matrix_(3, 3) = 1.0;
  };
 
  /** \brief Destructor. */
  virtual ~WarpPointRigid() = default;
 
  /** \brief Set warp parameters. Pure virtual.
   * \param[in] p warp parameters
   */
  virtual void
  setParam(const VectorX& p) = 0;
 
  /** \brief Warp a point given a transformation matrix
   * \param[in] pnt_in the point to warp (transform)
   * \param[out] pnt_out the warped (transformed) point
   */
  inline void
  warpPoint(const PointSourceT& pnt_in, PointSourceT& pnt_out) const
  {
    pnt_out.x = static_cast<float>(
        transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
        transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
    pnt_out.y = static_cast<float>(
        transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
        transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
    pnt_out.z = static_cast<float>(
        transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
        transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
    // pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () *
    //                            pnt_in.getVector3fMap () +
    //                            transform_matrix_.block<3, 1> (0, 3);
    // pnt_out.data[3] = pnt_in.data[3];
  }
 
  /** \brief Warp a point given a transformation matrix
   * \param[in] pnt_in the point to warp (transform)
   * \param[out] pnt_out the warped (transformed) point
   */
  inline void
  warpPoint(const PointSourceT& pnt_in, Vector4& pnt_out) const
  {
    pnt_out[0] = static_cast<Scalar>(
        transform_matrix_(0, 0) * pnt_in.x + transform_matrix_(0, 1) * pnt_in.y +
        transform_matrix_(0, 2) * pnt_in.z + transform_matrix_(0, 3));
    pnt_out[1] = static_cast<Scalar>(
        transform_matrix_(1, 0) * pnt_in.x + transform_matrix_(1, 1) * pnt_in.y +
        transform_matrix_(1, 2) * pnt_in.z + transform_matrix_(1, 3));
    pnt_out[2] = static_cast<Scalar>(
        transform_matrix_(2, 0) * pnt_in.x + transform_matrix_(2, 1) * pnt_in.y +
        transform_matrix_(2, 2) * pnt_in.z + transform_matrix_(2, 3));
    pnt_out[3] = 0.0;
  }
 
  /** \brief Get the number of dimensions. */
  inline int
  getDimension() const
  {
    return (nr_dim_);
  }
 
  /** \brief Get the Transform used. */
  inline const Matrix4&
  getTransform() const
  {
    return (transform_matrix_);
  }
 
public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
  int nr_dim_;
  Matrix4 transform_matrix_;
};
} // namespace registration
} // namespace pcl