cloud_geometry::transforms Namespace Reference

Functions
void	convertAxisAngleToRotationMatrix (const geometry_msgs::Point32 &axis, double angle, Eigen::Matrix3d &rotation)
	Convert an axis-angle representation to a 3x3 rotation matrix.
void	getInverseTransformation (const Eigen::Matrix4d &transformation, Eigen::Matrix4d &transformation_inverse)
	Obtain the inverse of a 4x4 rigid transformation matrix.
void	getPlaneToPlaneTransformation (const std::vector< double > &plane_a, const geometry_msgs::Point32 &plane_b, float tx, float ty, float tz, Eigen::Matrix4d &transformation)
	Obtain a 4x4 rigid transformation matrix (with translation).
void	getPlaneToPlaneTransformation (const std::vector< double > &plane_a, const std::vector< double > &plane_b, float tx, float ty, float tz, Eigen::Matrix4d &transformation)
	Obtain a 4x4 rigid transformation matrix (with translation).
bool	getPointsRigidTransformation (const sensor_msgs::PointCloud &pc_a, const std::vector< int > &indices_a, const sensor_msgs::PointCloud &pc_b, const std::vector< int > &indices_b, Eigen::Matrix4d &transformation)
	Computes the rigid transformation between two point clouds.
bool	getPointsRigidTransformation (const sensor_msgs::PointCloud &pc_a, const sensor_msgs::PointCloud &pc_b, Eigen::Matrix4d &transformation)
	Computes the rigid transformation between two point clouds.
void	transformPoint (const geometry_msgs::Point32 &point_in, geometry_msgs::Point32 &point_out, const Eigen::Matrix4d &transformation)
	Transform a 3D point using a given 4x4 rigid transformation.
void	transformPoints (const std::vector< geometry_msgs::Point32 > &points_in, std::vector< geometry_msgs::Point32 > &points_out, const Eigen::Matrix4d &transformation)
	Transform a set of 3D points using a given 4x4 rigid transformation.

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Function Documentation

void cloud_geometry::transforms::convertAxisAngleToRotationMatrix	(	const geometry_msgs::Point32 &	axis,
		double	angle,
		Eigen::Matrix3d &	rotation
	)

Convert an axis-angle representation to a 3x3 rotation matrix.

Note:

The formula is given by: A = I * cos (th) + ( 1 - cos (th) ) * axis * axis' - E * sin (th), where E = [0 -axis.z axis.y; axis.z 0 -axis.x; -axis.y axis.x 0]

Parameters:

	axis	the axis
	angle	the angle
	rotation	the resultant rotation

Definition at line 301 of file transforms.cpp.

void cloud_geometry::transforms::getInverseTransformation	(	const Eigen::Matrix4d &	transformation,
		Eigen::Matrix4d &	transformation_inverse
	)			[inline]

Obtain the inverse of a 4x4 rigid transformation matrix.

Parameters:

	transformation	the input transformation
	transformation_inverse	the output transformation (the inverse of transformation)

Definition at line 123 of file transforms.h.

void cloud_geometry::transforms::getPlaneToPlaneTransformation	(	const std::vector< double > &	plane_a,
		const geometry_msgs::Point32 &	plane_b,
		float	tx,
		float	ty,
		float	tz,
		Eigen::Matrix4d &	transformation
	)

Obtain a 4x4 rigid transformation matrix (with translation).

Parameters:

	plane_a	the normalized coefficients of the first plane
	plane_b	the normalized coefficients of the second plane
	tx	the desired translation on x-axis
	ty	the desired translation on y-axis
	tz	the desired translation on z-axis
	transformation	the resultant transformation matrix

Definition at line 261 of file transforms.cpp.

void cloud_geometry::transforms::getPlaneToPlaneTransformation	(	const std::vector< double > &	plane_a,
		const std::vector< double > &	plane_b,
		float	tx,
		float	ty,
		float	tz,
		Eigen::Matrix4d &	transformation
	)

Obtain a 4x4 rigid transformation matrix (with translation).

Parameters:

	plane_a	the normalized coefficients of the first plane
	plane_b	the normalized coefficients of the second plane
	tx	the desired translation on x-axis
	ty	the desired translation on y-axis
	tz	the desired translation on z-axis
	transformation	the resultant transformation matrix

Definition at line 220 of file transforms.cpp.

bool cloud_geometry::transforms::getPointsRigidTransformation	(	const sensor_msgs::PointCloud &	pc_a_,
		const std::vector< int > &	indices_a,
		const sensor_msgs::PointCloud &	pc_b_,
		const std::vector< int > &	indices_b,
		Eigen::Matrix4d &	transformation
	)

Computes the rigid transformation between two point clouds.

Computes the optimal transformation between two sets of point clouds (in a least square sense), using the algorithm of: Arun, Huanng and Blostein - Least-Square Fitting of Two Point Sets

Parameters:

	pc_a	first point cloud
	indices_a	indices of points from the first point cloud to be used
	pc_b	second point cloud
	indices_b	indices of points from the first point cloud to be used
	transformation	the computed transformation between the two point clouds

Returns:

true is there is a valid transformation found

See header file

Definition at line 123 of file transforms.cpp.

bool cloud_geometry::transforms::getPointsRigidTransformation	(	const sensor_msgs::PointCloud &	pc_a_,
		const sensor_msgs::PointCloud &	pc_b_,
		Eigen::Matrix4d &	transformation
	)

Computes the rigid transformation between two point clouds.

Computes the optimal transformation between two sets of point clouds (in a least square sense), using the algorithm of: Arun, Huanng and Blostein - Least-Square Fitting of Two Point Sets

Parameters:

	pc_a	first point cloud
	pc_b	second point cloud
	transformation	the computed transformation between the two point clouds

Returns:

true is there is a valid transformation found

See header file

Definition at line 43 of file transforms.cpp.

void cloud_geometry::transforms::transformPoint	(	const geometry_msgs::Point32 &	point_in,
		geometry_msgs::Point32 &	point_out,
		const Eigen::Matrix4d &	transformation
	)			[inline]

Transform a 3D point using a given 4x4 rigid transformation.

Parameters:

	point_in	the input point
	point_out	the resultant transformed point
	transform	the 4x4 rigid transformation

Definition at line 95 of file transforms.h.

void cloud_geometry::transforms::transformPoints	(	const std::vector< geometry_msgs::Point32 > &	points_in,
		std::vector< geometry_msgs::Point32 > &	points_out,
		const Eigen::Matrix4d &	transformation
	)			[inline]

Transform a set of 3D points using a given 4x4 rigid transformation.

Parameters:

	points_in	the input points
	points_out	the resultant transformed points
	transform	the 4x4 rigid transformation

Definition at line 109 of file transforms.h.