transforms.h

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#pragma once
 
#include <pcl/point_cloud.h>
#include <pcl/common/centroid.h>
#include <pcl/common/eigen.h>
#include <pcl/PointIndices.h>
 
namespace pcl
{
  /** \brief Apply an affine transform defined by an Eigen Transform
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, Scalar> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Affine3f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Apply an affine transform defined by an Eigen Transform
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const Indices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, Scalar> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const Indices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Affine3f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Apply an affine transform defined by an Eigen Transform
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const pcl::PointIndices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const pcl::PointIndices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Affine3f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Affine3f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const Indices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const Indices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Affine3f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const pcl::PointIndices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const pcl::PointIndices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Affine3f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices.indices, cloud_out, transform.matrix (), copy_all_fields));
  }
 
  /** \brief Apply a rigid transform defined by a 4x4 matrix
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform a rigid transformation 
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix<Scalar, 4, 4> &transform,
                       bool copy_all_fields = true);
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix4f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Apply a rigid transform defined by a 4x4 matrix
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform a rigid transformation 
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const Indices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix<Scalar, 4, 4> &transform,
                       bool copy_all_fields = true);
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const Indices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix4f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Apply a rigid transform defined by a 4x4 matrix
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform a rigid transformation 
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const pcl::PointIndices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix<Scalar, 4, 4> &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
  }
 
  template <typename PointT> void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       const pcl::PointIndices &indices,
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix4f &transform,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix<Scalar, 4, 4> &transform,
                                  bool copy_all_fields = true);
 
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix4f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const Indices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix<Scalar, 4, 4> &transform,
                                  bool copy_all_fields = true);
 
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const Indices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix4f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[in] indices the set of point indices to use from the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation (typically a rigid transformation)
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    * \note Can be used with cloud_in equal to cloud_out
    * \ingroup common
    */
  template <typename PointT, typename Scalar> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const pcl::PointIndices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix<Scalar, 4, 4> &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, Scalar> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
  }
 
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  const pcl::PointIndices &indices,
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix4f &transform,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));
  }
 
  /** \brief Apply a rigid transform defined by a 3D offset and a quaternion
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] offset the translation component of the rigid transformation
    * \param[in] rotation the rotation component of the rigid transformation
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> inline void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Matrix<Scalar, 3, 1> &offset, 
                       const Eigen::Quaternion<Scalar> &rotation,
                       bool copy_all_fields = true);
 
  template <typename PointT> inline void 
  transformPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                       pcl::PointCloud<PointT> &cloud_out, 
                       const Eigen::Vector3f &offset, 
                       const Eigen::Quaternionf &rotation,
                       bool copy_all_fields = true)
  {
    return (transformPointCloud<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
  }
 
  /** \brief Transform a point cloud and rotate its normals using an Eigen transform.
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] offset the translation component of the rigid transformation
    * \param[in] rotation the rotation component of the rigid transformation
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z, normal_x, normal_y, normal_z) should be copied into the new
    * transformed cloud
    * \ingroup common
    */
  template <typename PointT, typename Scalar> inline void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Matrix<Scalar, 3, 1> &offset, 
                                  const Eigen::Quaternion<Scalar> &rotation,
                                  bool copy_all_fields = true);
 
  template <typename PointT> void 
  transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in, 
                                  pcl::PointCloud<PointT> &cloud_out, 
                                  const Eigen::Vector3f &offset, 
                                  const Eigen::Quaternionf &rotation,
                                  bool copy_all_fields = true)
  {
    return (transformPointCloudWithNormals<PointT, float> (cloud_in, cloud_out, offset, rotation, copy_all_fields));
  }
 
  /** \brief Apply an affine transform on a pointcloud having points of type PointXY
    * \param[in] cloud_in the input point cloud
    * \param[out] cloud_out the resultant output point cloud
    * \param[in] transform an affine transformation 
    * \param[in] copy_all_fields flag that controls whether the contents of the fields
    * (other than x, y, z) should be copied into the new transformed cloud
    * \ingroup common
    */
  void
  transformPointCloud(const pcl::PointCloud<pcl::PointXY>& cloud_in, 
                      pcl::PointCloud<pcl::PointXY>& cloud_out, 
                      const Eigen::Affine2f& transform, 
                      bool copy_all_fields = true);
 
  /** \brief Transform a point with members x,y,z
    * \param[in] point the point to transform
    * \param[out] transform the transformation to apply
    * \return the transformed point
    * \ingroup common
    */
  template <typename PointT, typename Scalar> inline PointT
  transformPoint (const PointT &point, 
                  const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
  
  template <typename PointT> inline PointT
  transformPoint (const PointT &point, 
                  const Eigen::Affine3f &transform)
  {
    return (transformPoint<PointT, float> (point, transform));
  }
 
  /** \brief Transform a point with members x,y,z,normal_x,normal_y,normal_z
    * \param[in] point the point to transform
    * \param[out] transform the transformation to apply
    * \return the transformed point
    * \ingroup common
    */
  template <typename PointT, typename Scalar> inline PointT
  transformPointWithNormal (const PointT &point, 
                  const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
  
  template <typename PointT> inline PointT
  transformPointWithNormal (const PointT &point, 
                  const Eigen::Affine3f &transform)
  {
    return (transformPointWithNormal<PointT, float> (point, transform));
  }
 
  /** \brief Calculates the principal (PCA-based) alignment of the point cloud
    * \param[in] cloud the input point cloud
    * \param[out] transform the resultant transform
    * \return the ratio lambda1/lambda2 or lambda2/lambda3, whatever is closer to 1.
    * \note If the return value is close to one then the transformation might be not unique -> two principal directions have
    * almost same variance (extend)
    */
  template <typename PointT, typename Scalar> inline double
  getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud, 
                              Eigen::Transform<Scalar, 3, Eigen::Affine> &transform);
 
  template <typename PointT> inline double
  getPrincipalTransformation (const pcl::PointCloud<PointT> &cloud, 
                              Eigen::Affine3f &transform)
  {
    return (getPrincipalTransformation<PointT, float> (cloud, transform));
  }
}
 
#include <pcl/common/impl/transforms.hpp>