transform.h File Reference

#include <Eigen/Geometry>
#include "pcl/common/transform.hpp"

Include dependency graph for transform.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
namespace	pcl
Functions
void	pcl::getEulerAngles (const Eigen::Affine3f &t, float &roll, float &pitch, float &yaw)
	Extract the Euler angles (XYZ-convention) from the given transformation.
Eigen::Affine3f	pcl::getInverse (const Eigen::Affine3f &transformation)
	Get the inverse of an Eigen::Affine3f object.
void	pcl::getInverse (const Eigen::Affine3f &transformation, Eigen::Affine3f &inverse_transformation)
	Get the inverse of an Eigen::Affine3f object.
Eigen::Affine3f	pcl::getRotation (const Eigen::Affine3f &transformation)
	Get only the rotation part of the transformation.
Eigen::Affine3f	pcl::getTransformation (float x, float y, float z, float roll, float pitch, float yaw)
	Create a transformation from the given translation and Euler angles (XYZ-convention).
void	pcl::getTransformation (float x, float y, float z, float roll, float pitch, float yaw, Eigen::Affine3f &t)
	Create a transformation from the given translation and Euler angles (XYZ-convention).
Eigen::Affine3f	pcl::getTransformationFromTwoUnitVectors (const Eigen::Vector3f &y_direction, const Eigen::Vector3f &z_axis)
void	pcl::getTransformationFromTwoUnitVectors (const Eigen::Vector3f &y_direction, const Eigen::Vector3f &z_axis, Eigen::Affine3f &transformation)
void	pcl::getTransformationFromTwoUnitVectorsAndOrigin (const Eigen::Vector3f &y_direction, const Eigen::Vector3f &z_axis, const Eigen::Vector3f &origin, Eigen::Affine3f &transformation)
	Get the transformation that will translate orign to (0,0,0) and rotate z_axis into (0,0,1) and y_direction into a vector with x=0 (or into (0,1,0) should y_direction be orthogonal to z_axis).
template<typename PointCloudType >
void	pcl::getTransformedPointCloud (const PointCloudType &input, const Eigen::Affine3f &transformation, PointCloudType &output)
	Transform each point in the given point cloud according to the given transformation.
Eigen::Affine3f	pcl::getTransFromUnitVectorsXY (const Eigen::Vector3f &x_axis, const Eigen::Vector3f &y_direction)
	Get the unique 3D rotation that will rotate x_axis into (1,0,0) and y_direction into a vector with z=0 (or into (0,1,0) should y_direction be orthogonal to z_axis).
void	pcl::getTransFromUnitVectorsXY (const Eigen::Vector3f &x_axis, const Eigen::Vector3f &y_direction, Eigen::Affine3f &transformation)
	Get the unique 3D rotation that will rotate x_axis into (1,0,0) and y_direction into a vector with z=0 (or into (0,1,0) should y_direction be orthogonal to z_axis).
Eigen::Affine3f	pcl::getTransFromUnitVectorsZY (const Eigen::Vector3f &z_axis, const Eigen::Vector3f &y_direction)
	Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=0 (or into (0,1,0) should y_direction be orthogonal to z_axis).
void	pcl::getTransFromUnitVectorsZY (const Eigen::Vector3f &z_axis, const Eigen::Vector3f &y_direction, Eigen::Affine3f &transformation)
	Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=0 (or into (0,1,0) should y_direction be orthogonal to z_axis).
Eigen::Vector3f	pcl::getTranslation (const Eigen::Affine3f &transformation)
	Get only the translation part of the transformation.
void	pcl::getTranslationAndEulerAngles (const Eigen::Affine3f &t, float &x, float &y, float &z, float &roll, float &pitch, float &yaw)
template<typename Derived >
void	pcl::loadBinary (Eigen::MatrixBase< Derived > &matrix, std::istream &file)
	Read a matrix from an input stream.
std::ostream &	pcl::operator<< (std::ostream &os, const Eigen::Affine3f &m)
	Output operator for Tranform3f.
template<typename Derived >
void	pcl::saveBinary (const Eigen::MatrixBase< Derived > &matrix, std::ostream &file)
	Write a matrix to an output stream.
template<typename PointType >
PointType	pcl::transformXYZ (const Eigen::Affine3f &transformation, const PointType &point)
	Transform a point with members x,y,z.