Namespaces | Functions
icp_2d.cpp File Reference
#include <icp_2d.h>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/SVD>
#include <eigen3/Eigen/Eigenvalues>
Include dependency graph for icp_2d.cpp:

Go to the source code of this file.

Namespaces

 icp_2d
 

Functions

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. More...
 
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. More...
 
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. More...
 
bool icp_2d::computeCorrespondences (const std::vector< geometry_msgs::Point > &source, const std::vector< geometry_msgs::Point > &target, std::vector< geometry_msgs::Point > &correspondences)
 
geometry_msgs::Point icp_2d::getCentroid (const std::vector< geometry_msgs::Point > points)
 Get the centroid of a set of points. More...
 
double icp_2d::getRMSD (const std::vector< geometry_msgs::Point > source, const std::vector< geometry_msgs::Point > target)
 
double icp_2d::thetaFromQuaternion (const geometry_msgs::Quaternion &q)
 Get the 2d rotation from a quaternion. More...
 
std::vector< geometry_msgs::Pointicp_2d::transform (const std::vector< geometry_msgs::Point > &points, double x, double y, double theta)
 Transform a vector of points in 2d. More...
 


caster_app
Author(s): Ye Tian
autogenerated on Wed Dec 18 2019 03:34:44