icp_2d Namespace Reference

Functions
double	alignICP (const std::vector< geometry_msgs::Point > source, const std::vector< geometry_msgs::Point > target, geometry_msgs::Transform &transform, size_t max_iterations=10, double min_delta_rmsd=0.000001)
	Perform Iterative Closest Point (ICP) algorithm to align two point clouds in a two dimensional plane. More...
bool	alignPCA (const std::vector< geometry_msgs::Point > source, const std::vector< geometry_msgs::Point > target, geometry_msgs::Transform &transform)
	Perform PCA algorithm to align two point clouds in a two dimensional plane. More...
bool	alignSVD (const std::vector< geometry_msgs::Point > source, const std::vector< geometry_msgs::Point > target, geometry_msgs::Transform &transform)
	Perform SVD optimization to align two point clouds in a two dimensional plane. More...
bool	computeCorrespondences (const std::vector< geometry_msgs::Point > &source, const std::vector< geometry_msgs::Point > &target, std::vector< geometry_msgs::Point > &correspondences)
geometry_msgs::Point	getCentroid (const std::vector< geometry_msgs::Point > points)
	Get the centroid of a set of points. More...
double	getRMSD (const std::vector< geometry_msgs::Point > source, const std::vector< geometry_msgs::Point > target)
double	thetaFromQuaternion (const geometry_msgs::Quaternion &q)
	Get the 2d rotation from a quaternion. More...
std::vector< geometry_msgs::Point >	transform (const std::vector< geometry_msgs::Point > &points, double x, double y, double theta)
	Transform a vector of points in 2d. More...

Function Documentation

alignICP()

double icp_2d::alignICP	(	const std::vector< geometry_msgs::Point >	source,
		const std::vector< geometry_msgs::Point >	target,
		geometry_msgs::Transform &	transform,
		size_t	max_iterations = 10,
		double	min_delta_rmsd = 0.000001
	)

Perform Iterative Closest Point (ICP) algorithm to align two point clouds in a two dimensional plane.

Parameters

source	The cloud to be aligned with target.
target	The cloud to be aligned to.
transform	The transformation to align source with target.

Returns

Fitness score, negative if error.

Definition at line 289 of file icp_2d.cpp.

alignPCA()

bool icp_2d::alignPCA	(	const std::vector< geometry_msgs::Point >	source,
		const std::vector< geometry_msgs::Point >	target,
		geometry_msgs::Transform &	transform
	)

Perform PCA algorithm to align two point clouds in a two dimensional plane.

Parameters

source	The cloud to be aligned with target.
target	The cloud to be aligned to.
transform	The transformation to align source with target.

Returns

True if successful, false otherwise.

Definition at line 119 of file icp_2d.cpp.

alignSVD()

bool icp_2d::alignSVD	(	const std::vector< geometry_msgs::Point >	source,
		const std::vector< geometry_msgs::Point >	target,
		geometry_msgs::Transform &	transform
	)

Perform SVD optimization to align two point clouds in a two dimensional plane.

Parameters

source	The cloud to be aligned with target.
target	The cloud to be aligned to.
transform	The transformation to align source with target.

Returns

True if successful, false otherwise.

Definition at line 197 of file icp_2d.cpp.

computeCorrespondences()

bool icp_2d::computeCorrespondences	(	const std::vector< geometry_msgs::Point > &	source,
		const std::vector< geometry_msgs::Point > &	target,
		std::vector< geometry_msgs::Point > &	correspondences
	)

Definition at line 82 of file icp_2d.cpp.

getCentroid()

geometry_msgs::Point icp_2d::getCentroid

(

const std::vector< geometry_msgs::Point >

points

)

Get the centroid of a set of points.

Parameters

points

The points to find centroid of.

Definition at line 66 of file icp_2d.cpp.

getRMSD()

double icp_2d::getRMSD	(	const std::vector< geometry_msgs::Point >	source,
		const std::vector< geometry_msgs::Point >	target
	)

Definition at line 262 of file icp_2d.cpp.

thetaFromQuaternion()

double icp_2d::thetaFromQuaternion

(

const geometry_msgs::Quaternion &

q

)

Get the 2d rotation from a quaternion.

Parameters

q	The quaternion to convert.

Returns

The orientation in 2d.

Note: will throw if q.x or q.y is not equal to zero

Definition at line 28 of file icp_2d.cpp.

transform()

std::vector< geometry_msgs::Point > icp_2d::transform	(	const std::vector< geometry_msgs::Point > &	points,
		double	x,
		double	y,
		double	theta
	)

Transform a vector of points in 2d.

Parameters

points	The points to transform.
x	The x offset to transform, in the current frame of points.
y	The y offset to transform, in the current frame of points.
theta	The rotation, in the current frame of points.

Returns

The transformed points.

Definition at line 41 of file icp_2d.cpp.