util3d_transforms.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      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 Universite de Sherbrooke 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
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*/

#include "rtabmap/core/util3d_transforms.h"

#include <pcl/common/transforms.h>

namespace rtabmap
{

namespace util3d
{

pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
        pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
        pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
        return output;
}

cv::Point3f transformPoint(
                const cv::Point3f & point,
                const Transform & transform)
{
        cv::Point3f ret = point;
        ret.x = transform (0, 0) * point.x + transform (0, 1) * point.y + transform (0, 2) * point.z + transform (0, 3);
        ret.y = transform (1, 0) * point.x + transform (1, 1) * point.y + transform (1, 2) * point.z + transform (1, 3);
        ret.z = transform (2, 0) * point.x + transform (2, 1) * point.y + transform (2, 2) * point.z + transform (2, 3);
        return ret;
}
pcl::PointXYZ transformPoint(
                const pcl::PointXYZ & pt,
                const Transform & transform)
{
        return pcl::transformPoint(pt, transform.toEigen3f());
}
pcl::PointXYZRGB transformPoint(
                const pcl::PointXYZRGB & pt,
                const Transform & transform)
{
        return pcl::transformPoint(pt, transform.toEigen3f());
}
pcl::PointNormal transformPoint(
                const pcl::PointNormal & point,
                const Transform & transform)
{
        pcl::PointNormal ret;
        Eigen::Matrix<float, 3, 1> pt (point.x, point.y, point.z);
        ret.x = static_cast<float> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));
        ret.y = static_cast<float> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));
        ret.z = static_cast<float> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));

        // Rotate normals
        Eigen::Matrix<float, 3, 1> nt (point.normal_x, point.normal_y, point.normal_z);
        ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
        ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
        ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));
        return ret;
}

}

}