transforms.h File Reference

#include <sensor_msgs/PointCloud.h>
#include <geometry_msgs/Point32.h>
#include <vector>
#include <Eigen/Core>
#include <Eigen/LU>

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Namespaces
namespace	cloud_geometry
namespace	cloud_geometry::transforms
Functions
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.
void	cloud_geometry::transforms::getInverseTransformation (const Eigen::Matrix4d &transformation, Eigen::Matrix4d &transformation_inverse)
	Obtain the inverse of a 4x4 rigid transformation matrix.
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)
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)
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.
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.
void	cloud_geometry::transforms::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	cloud_geometry::transforms::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.