pcl: transform.h Source File

00001 /*
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00035 
00036 #ifndef PCL_TRANSFORM_H_
00037 #define PCL_TRANSFORM_H_
00038 
00039 #include <Eigen/Geometry>
00040 
00041 /*
00042  *  Define some libeigen based transformation methods
00043  */
00044 
00045 namespace pcl
00046 {
00053   inline void
00054   getTransFromUnitVectorsZY (const Eigen::Vector3f& z_axis, const Eigen::Vector3f& y_direction,
00055                              Eigen::Affine3f& transformation);
00056   
00063   inline Eigen::Affine3f
00064   getTransFromUnitVectorsZY (const Eigen::Vector3f& z_axis, const Eigen::Vector3f& y_direction);
00065  
00072   inline void
00073   getTransFromUnitVectorsXY (const Eigen::Vector3f& x_axis, const Eigen::Vector3f& y_direction,
00074                              Eigen::Affine3f& transformation);
00075 
00082   inline Eigen::Affine3f
00083   getTransFromUnitVectorsXY (const Eigen::Vector3f& x_axis, const Eigen::Vector3f& y_direction);
00084   
00086   inline void
00087   getTransformationFromTwoUnitVectors (const Eigen::Vector3f& y_direction, const Eigen::Vector3f& z_axis,
00088                                        Eigen::Affine3f& transformation);
00089   
00091   inline Eigen::Affine3f
00092   getTransformationFromTwoUnitVectors (const Eigen::Vector3f& y_direction, const Eigen::Vector3f& z_axis);
00093 
00101   inline void
00102   getTransformationFromTwoUnitVectorsAndOrigin (const Eigen::Vector3f& y_direction, const Eigen::Vector3f& z_axis,
00103                                                 const Eigen::Vector3f& origin, Eigen::Affine3f& transformation);
00104 
00109   inline std::ostream&
00110   operator<< (std::ostream& os, const Eigen::Affine3f& m)
00111   {
00112     os << "{(" << m (0,0) << "," <<m (0,1) << "," << m (0,2) << "," << m (0,3)
00113        << ")(" << m (1,0) << "," <<m (1,1) << "," << m (1,2) << "," << m (1,3)
00114        << ")(" << m (2,0) << "," <<m (2,1) << "," << m (2,2) << "," << m (2,3)
00115        << ")(" << m (3,0) << "," <<m (3,1) << "," << m (3,2) << "," << m (3,3) << ")}";
00116     return (os);
00117   }
00118 
00123   inline Eigen::Affine3f
00124   getRotation (const Eigen::Affine3f& transformation);
00125 
00130   inline Eigen::Vector3f
00131   getTranslation (const Eigen::Affine3f& transformation);
00132 
00137   inline void
00138   getInverse (const Eigen::Affine3f& transformation, Eigen::Affine3f& inverse_transformation);
00139 
00144   inline Eigen::Affine3f getInverse (const Eigen::Affine3f& transformation);
00145 
00151   template <typename PointType> inline PointType 
00152   transformXYZ (const Eigen::Affine3f& transformation, const PointType& point);
00153   
00159   template <typename PointCloudType> inline void
00160   getTransformedPointCloud (const PointCloudType& input, const Eigen::Affine3f& transformation,
00161                             PointCloudType& output);
00162   
00169   inline void
00170   getEulerAngles (const Eigen::Affine3f& t, float& roll, float& pitch, float& yaw);
00171 
00181   inline void
00182   getTranslationAndEulerAngles (const Eigen::Affine3f& t, float& x, float& y, float& z,
00183                                 float& roll, float& pitch, float& yaw);
00184 
00194   inline void
00195   getTransformation (float x, float y, float z, float roll, float pitch, float yaw, Eigen::Affine3f& t);
00196 
00206   inline Eigen::Affine3f
00207   getTransformation (float x, float y, float z, float roll, float pitch, float yaw);
00208   
00213   template <typename Derived> void
00214   saveBinary (const Eigen::MatrixBase<Derived>& matrix, std::ostream& file);
00215 
00220   template <typename Derived> void
00221   loadBinary (Eigen::MatrixBase<Derived>& matrix, std::istream& file);
00222   
00223 }  // namespasce end
00224 
00225 #include "pcl/common/transform.hpp"
00226 
00227 #endif  //#ifndef PCL_NORMS_H_