warp_point_rigid_3d.h

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 * $Id: warp_point_rigid_3d.h 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_WARP_POINT_RIGID_3D_H_
#define PCL_WARP_POINT_RIGID_3D_H_

#include <pcl/registration/warp_point_rigid.h>
#include <Eigen/Geometry>

namespace pcl
{
  template <class PointSourceT, class PointTargetT>
  class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT>
  {
  public:
    WarpPointRigid3D ()
      : WarpPointRigid<PointSourceT, PointTargetT> (3) {}

    virtual void setParam (const Eigen::VectorXf & p)
    {
      assert(p.rows () == this->getDimension ());
      Eigen::Matrix4f &trans = this->transform_matrix_;

      trans = Eigen::Matrix4f::Zero ();
      trans (3, 3) = 1;
      trans (2, 2) = 1; // Rotation around the Z-axis

      // Copy the rotation and translation components
      trans.block <4, 1> (0, 3) = Eigen::Vector4f (p[0], p[1], 0, 1.0);

      // Compute w from the unit quaternion
      Eigen::Rotation2D<float> r (p[2]);
      trans.topLeftCorner<2, 2> () = r.toRotationMatrix ();
    }
  };
}

#endif