warp_point_rigid.h
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00001 /*
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00034  * $Id: warp_point_rigid.h 5066 2012-03-14 06:42:21Z rusu $
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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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:19:12