00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: warp_point_rigid.h 5066 2012-03-14 06:42:21Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_WARP_POINT_RIGID_H_ 00039 #define PCL_WARP_POINT_RIGID_H_ 00040 00041 #include <Eigen/Core> 00042 #include <Eigen/Geometry> 00043 00044 namespace pcl 00045 { 00046 template <class PointSourceT, class PointTargetT> 00047 class WarpPointRigid 00048 { 00049 public: 00050 00051 WarpPointRigid (int nr_dim): nr_dim_ (nr_dim), transform_matrix_ (Eigen::Matrix4f::Zero ()) 00052 { 00053 transform_matrix_ (3,3) = 1.0; 00054 }; 00055 00056 virtual ~WarpPointRigid () {}; 00057 00058 virtual void 00059 setParam (const Eigen::VectorXf& p) = 0; 00060 00061 void 00062 warpPoint (const PointSourceT& pnt_in, PointSourceT& pnt_out) const 00063 { 00064 pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () * pnt_in.getVector3fMap() + 00065 transform_matrix_.block<3,1> (0, 3); 00066 pnt_out.data [3] = pnt_in.data [3]; 00067 } 00068 00069 int 00070 getDimension () const {return nr_dim_;} 00071 00072 const Eigen::Matrix4f& 00073 getTransform () const { return transform_matrix_; } 00074 00075 public: 00076 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00077 00078 protected: 00079 int nr_dim_; 00080 Eigen::Matrix4f transform_matrix_; 00081 }; 00082 00083 } 00084 00085 #endif