#include <PointMatcher.h>

Public Types
typedef Eigen::Transform< T, kPointDimension, Eigen::Affine >	AffineTransform
	An affine transform over ScalarType of kPointDimension. More...

using	Index = typename DataPoints::Index

typedef Eigen::Matrix< T, kPointDimension, 1 >	StaticCoordVector
	A vector over ScalarType of kPointDimension. More...

Static Public Member Functions
static void	addEmpty3dPointFields (const Index numberOfPoints, DataPoints &pointCloud)
	Adds 3D coordinates and normals fields to a point cloud. More...

static void	applyTransformation (const StaticCoordVector &translation, const Quaternion &rotation, DataPoints &pointCloud)
	Transforms a point cloud by translating and rotating it a given amount. More...

static AffineTransform	buildUpTransformation (const StaticCoordVector &translation, const Quaternion &rotation)
	Builds a 3D affine transformation with a given translation and rotation. More...

static StaticCoordVector	computeNormalOfAxisAlignedPlane (const StaticCoordVector &axisAlignedPlaneDimensions)
	Computes a normal vector from a vector that contains the dimensions of a 2D shape in at-most 2 directions. More...

static DataPoints	generateUniformlySampledBox (const ScalarType length, const ScalarType width, const ScalarType height, const Index numberOfPoints, const StaticCoordVector &translation, const Quaternion &rotation)
	Generates a uniformly sampled box (with no filling), with a given number of points and pose. More...

static DataPoints	generateUniformlySampledCircle (const ScalarType radius, const Index numberOfPoints, const StaticCoordVector &translation, const Quaternion &rotation)
	Generates a uniformly sampled circle, with a given number of points and pose. More...

static DataPoints	generateUniformlySampledCylinder (const ScalarType radius, const ScalarType height, const Index numberOfPoints, const StaticCoordVector &translation, const Quaternion &rotation)
	Generates a uniformly sampled cylinder (with no filling), with a given number of points and pose. More...

static DataPoints	generateUniformlySampledPlane (const StaticCoordVector &dimensions, const Index numberOfPoints, const StaticCoordVector &translation, const Quaternion &rotation)
	Generates a uniformly sampled plane, with a given number of points and pose. More...

static DataPoints	generateUniformlySampledSphere (const ScalarType radius, const Index numberOfPoints, const StaticCoordVector &translation, const Quaternion &rotation)
	Generates a uniformly sampled sphere (with no filling), with a given number of points and pose. More...

Static Public Attributes
static constexpr Eigen::Index	kPointDimension { 3 }
	The dimension of the point clouds that libpointmatcher will process. More...

static constexpr ScalarType	pi { static_cast<ScalarType>(M_PI) }
	Pi. More...

Detailed Description

template<typename T>
struct PointMatcher< T >::PointCloudGenerator

Definition at line 775 of file PointMatcher.h.

Member Typedef Documentation

◆ AffineTransform

template<typename T >

typedef Eigen::Transform<T, kPointDimension, Eigen::Affine> PointMatcher< T >::PointCloudGenerator::AffineTransform

An affine transform over ScalarType of kPointDimension.

Definition at line 780 of file PointMatcher.h.

◆ Index

template<typename T >

using PointMatcher< T >::PointCloudGenerator::Index = typename DataPoints::Index

Definition at line 784 of file PointMatcher.h.

◆ StaticCoordVector

template<typename T >

typedef Eigen::Matrix<T, kPointDimension, 1> PointMatcher< T >::PointCloudGenerator::StaticCoordVector

A vector over ScalarType of kPointDimension.

Definition at line 782 of file PointMatcher.h.

Member Function Documentation

◆ addEmpty3dPointFields()

template<typename T >

void PointMatcher< T >::PointCloudGenerator::addEmpty3dPointFields	(	const Index	numberOfPoints,
		DataPoints &	pointCloud
	)

static

Adds 3D coordinates and normals fields to a point cloud.

Parameters

numberOfPoints[in]	Number of points to add to the point cloud.
pointCloud[out]	Point cloud.

Definition at line 52 of file pointmatcher/PointCloudGenerator.cpp.

◆ applyTransformation()

template<typename T >

void PointMatcher< T >::PointCloudGenerator::applyTransformation	(	const StaticCoordVector &	translation,
		const Quaternion &	rotation,
		DataPoints &	pointCloud
	)

static

Transforms a point cloud by translating and rotating it a given amount.

Parameters

translation[in]	Translation.
rotation[in]	Rotation.
pointCloud[out]	Point cloud to transform.

Definition at line 70 of file pointmatcher/PointCloudGenerator.cpp.

◆ buildUpTransformation()

template<typename T >

PointMatcher< T >::PointCloudGenerator::AffineTransform PointMatcher< T >::PointCloudGenerator::buildUpTransformation	(	const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Builds a 3D affine transformation with a given translation and rotation.

Parameters

translation	Translation. [m]
rotation	Rotation quaternion.

Returns: AffineTransform Resulting transformation.

Definition at line 42 of file pointmatcher/PointCloudGenerator.cpp.

◆ computeNormalOfAxisAlignedPlane()

template<typename T >

PointMatcher< T >::PointCloudGenerator::StaticCoordVector PointMatcher< T >::PointCloudGenerator::computeNormalOfAxisAlignedPlane ( const StaticCoordVector & axisAlignedPlaneDimensions )

static

Computes a normal vector from a vector that contains the dimensions of a 2D shape in at-most 2 directions.

Parameters

axisAlignedPlaneDimensions[in] Dimensions vector.

Returns: StaticCoordVector Normal vector.

Definition at line 84 of file pointmatcher/PointCloudGenerator.cpp.

◆ generateUniformlySampledBox()

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::PointCloudGenerator::generateUniformlySampledBox	(	const ScalarType	length,
		const ScalarType	width,
		const ScalarType	height,
		const Index	numberOfPoints,
		const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Generates a uniformly sampled box (with no filling), with a given number of points and pose.

Parameters

length[in]	Length of the box. [m]
width[in]	Width of the box. [m]
height[in]	Height of the box. [m]
numberOfPoints[in]	Number of points.
translation[in]	Translation with respect to the box origin, to be used for positioning the box.
rotation[in]	Rotation with respect to the box origin, to be used for positioning the box.

Returns: DataPoints Box's point cloud.

Definition at line 312 of file pointmatcher/PointCloudGenerator.cpp.

◆ generateUniformlySampledCircle()

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::PointCloudGenerator::generateUniformlySampledCircle	(	const ScalarType	radius,
		const Index	numberOfPoints,
		const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Generates a uniformly sampled circle, with a given number of points and pose.

Parameters

radius[in]	Radius of the circle. [m]
numberOfPoints[in]	Number of points.
translation[in]	Translation with respect to the circle origin, to be used for positioning the circle.
rotation[in]	Rotation with respect to the circle origin, to be used for positioning the circle.

Returns: DataPoints Circle's point cloud.

Definition at line 152 of file pointmatcher/PointCloudGenerator.cpp.

◆ generateUniformlySampledCylinder()

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::PointCloudGenerator::generateUniformlySampledCylinder	(	const ScalarType	radius,
		const ScalarType	height,
		const Index	numberOfPoints,
		const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Generates a uniformly sampled cylinder (with no filling), with a given number of points and pose.

Parameters

radius[in]	Radius of the cylinder. [m]
height[in]	Height of the cylinder. [m]
numberOfPoints[in]	Number of points.
translation[in]	Translation with respect to the cylinder origin, to be used for positioning the cylinder.
rotation[in]	Rotation with respect to the cylinder origin, to be used for positioning the cylinder.

Returns: DataPoints Circle's point cloud.

Definition at line 198 of file pointmatcher/PointCloudGenerator.cpp.

◆ generateUniformlySampledPlane()

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::PointCloudGenerator::generateUniformlySampledPlane	(	const StaticCoordVector &	dimensions,
		const Index	numberOfPoints,
		const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Generates a uniformly sampled plane, with a given number of points and pose.

Parameters

dimensions[in]	Dimensions of the plane (length, width, height). [m]
numberOfPoints[in]	Number of points.
translation[in]	Translation with respect to the plane origin, to be used for positioning the plane.
rotation[in]	Rotation with respect to the plane origin, to be used for positioning the plane.

Returns: DataPoints Plane's point cloud.

Definition at line 271 of file pointmatcher/PointCloudGenerator.cpp.

◆ generateUniformlySampledSphere()

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::PointCloudGenerator::generateUniformlySampledSphere	(	const ScalarType	radius,
		const Index	numberOfPoints,
		const StaticCoordVector &	translation,
		const Quaternion &	rotation
	)

static

Generates a uniformly sampled sphere (with no filling), with a given number of points and pose.

Parameters

radius[in]	Radius of the sphere. [m]
numberOfPoints[in]	Number of points.
translation[in]	Translation with respect to the sphere origin, to be used for positioning the sphere.
rotation[in]	Rotation with respect to the sphere origin, to be used for positioning the sphere.

Returns: DataPoints Sphere's point cloud.

Definition at line 100 of file pointmatcher/PointCloudGenerator.cpp.

Member Data Documentation

◆ kPointDimension

template<typename T >

constexpr Eigen::Index PointMatcher< T >::PointCloudGenerator::kPointDimension { 3 }

staticconstexpr

The dimension of the point clouds that libpointmatcher will process.

Definition at line 778 of file PointMatcher.h.

◆ pi

template<typename T >

constexpr ScalarType PointMatcher< T >::PointCloudGenerator::pi { static_cast<ScalarType>(M_PI) }

staticconstexpr

Pi.

Definition at line 868 of file PointMatcher.h.

The documentation for this struct was generated from the following files:

Public Types

Static Public Member Functions

Static Public Attributes

Detailed Description

template<typename T> struct PointMatcher< T >::PointCloudGenerator

Member Typedef Documentation

◆ AffineTransform

◆ Index

◆ StaticCoordVector

Member Function Documentation

◆ addEmpty3dPointFields()

◆ applyTransformation()

◆ buildUpTransformation()

◆ computeNormalOfAxisAlignedPlane()

◆ generateUniformlySampledBox()

◆ generateUniformlySampledCircle()

◆ generateUniformlySampledCylinder()

◆ generateUniformlySampledPlane()

◆ generateUniformlySampledSphere()

Member Data Documentation

◆ kPointDimension

◆ pi

template<typename T>
struct PointMatcher< T >::PointCloudGenerator