Point Cloud Library (PCL)  1.3.1
warp_point_rigid.h
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00001 /*
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00034  * $Id: warp_point_rigid.h 3041 2011-11-01 04:44:41Z 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)
00052     {
00053       transform_matrix_ = Eigen::Matrix4f::Zero ();
00054       transform_matrix_ (3,3) = 1.0;
00055     };
00056 
00057     virtual ~WarpPointRigid () {};
00058 
00059     virtual void setParam (const Eigen::VectorXf& p) = 0;
00060 
00061     void warpPoint (const PointSourceT& pnt_in, PointSourceT& pnt_out) const
00062     {
00063       pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner<3, 3> () * pnt_in.getVector3fMap() + 
00064         transform_matrix_.block<3,1> (0, 3);
00065       pnt_out.data [3] = pnt_in.data [3];
00066     }
00067 
00068     int getDimension () const {return nr_dim_;}
00069 
00070     const Eigen::Matrix4f& getTransform () const { return transform_matrix_; }
00071     
00072 
00073   protected:
00074     int nr_dim_;
00075     Eigen::Matrix4f transform_matrix_;
00076   };
00077 
00078 }
00079 
00080 #endif
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