warp_point_rigid_6d.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */
 
#pragma once
 
#include <pcl/registration/warp_point_rigid.h>
 
namespace pcl {
namespace registration {
/** \brief @b WarpPointRigid3D enables 6D (3D rotation + 3D translation)
 * transformations for points.
 *
 * \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 WarpPointRigid6D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar> {
public:
  using WarpPointRigid<PointSourceT, PointTargetT, Scalar>::transform_matrix_;
 
  using Matrix4 = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4;
  using VectorX = typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX;
 
  using Ptr = shared_ptr<WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>>;
  using ConstPtr =
      shared_ptr<const WarpPointRigid6D<PointSourceT, PointTargetT, Scalar>>;
 
  WarpPointRigid6D() : WarpPointRigid<PointSourceT, PointTargetT, Scalar>(6) {}
 
  /** \brief Empty destructor */
  ~WarpPointRigid6D() override = default;
 
  /** \brief Set warp parameters.
   * \note Assumes the quaternion parameters are normalized.
   * \param[in] p warp parameters (tx ty tz qx qy qz)
   */
  void
  setParam(const VectorX& p) override
  {
    assert(p.rows() == this->getDimension());
 
    // Copy the rotation and translation components
    transform_matrix_.setZero();
    transform_matrix_(0, 3) = p[0];
    transform_matrix_(1, 3) = p[1];
    transform_matrix_(2, 3) = p[2];
    transform_matrix_(3, 3) = 1;
 
    // Compute w from the unit quaternion
    Eigen::Quaternion<Scalar> q(0, p[3], p[4], p[5]);
    q.w() = static_cast<Scalar>(std::sqrt(1 - q.dot(q)));
    q.normalize();
    transform_matrix_.template topLeftCorner<3, 3>() = q.toRotationMatrix();
  }
};
} // namespace registration
} // namespace pcl