TransformationsImpl.h
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6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef __POINTMATCHER_TRANSFORMATIONS_H
37 #define __POINTMATCHER_TRANSFORMATIONS_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
49 
53 
55  {
56  inline static const std::string description()
57  {
58  return "Rigid transformation.";
59  }
60 
61  RigidTransformation() : Transformation("RigidTransformation", ParametersDoc(), Parameters()) {}
62  virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
63  virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
64  virtual bool checkParameters(const TransformationParameters& parameters) const;
66  };
67 
69  {
70  inline static const std::string description()
71  {
72  return "Similarity transformation (rotation + translation + scale).";
73  }
74 
75  SimilarityTransformation() : Transformation("SimilarityTransformation", ParametersDoc(), Parameters()) {}
76  virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
77  virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
78  virtual bool checkParameters(const TransformationParameters& parameters) const;
80  };
81 
83  {
84  inline static const std::string description()
85  {
86  return "Pure translation transformation\nA rigid transformation with no rotation.";
87  }
88 
89  PureTranslation() : Transformation("PureTranslation", ParametersDoc(), Parameters()) {}
90  virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
91  virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
92  virtual bool checkParameters(const TransformationParameters& parameters) const;
94  };
95 
96 }; // TransformationsImpl
97 
98 #endif // __POINTMATCHER_TRANSFORMATION_H
TransformationsImpl::Parameters
Parametrizable::Parameters Parameters
Definition: TransformationsImpl.h:46
TransformationsImpl::PureTranslation::correctParameters
virtual TransformationParameters correctParameters(const TransformationParameters &parameters) const
Definition: TransformationsImpl.cpp:282
TransformationsImpl::RigidTransformation::compute
virtual DataPoints compute(const DataPoints &input, const TransformationParameters &parameters) const
RigidTransformation.
Definition: TransformationsImpl.cpp:50
TransformationsImpl::PureTranslation::compute
virtual DataPoints compute(const DataPoints &input, const TransformationParameters &parameters) const
Definition: TransformationsImpl.cpp:260
TransformationsImpl::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: TransformationsImpl.h:47
TransformationsImpl::RigidTransformation::inPlaceCompute
virtual void inPlaceCompute(const TransformationParameters &parameters, DataPoints &cloud) const
RigidTransformation.
Definition: TransformationsImpl.cpp:61
TransformationsImpl::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: TransformationsImpl.h:44
TransformationsImpl::SimilarityTransformation::compute
virtual DataPoints compute(const DataPoints &input, const TransformationParameters &parameters) const
SimilarityTransformation.
Definition: TransformationsImpl.cpp:180
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
TransformationsImpl::SimilarityTransformation::SimilarityTransformation
SimilarityTransformation()
Definition: TransformationsImpl.h:75
TransformationsImpl
Definition: TransformationsImpl.h:42
testing::internal::string
::std::string string
Definition: gtest.h:1979
TransformationsImpl::PureTranslation::PureTranslation
PureTranslation()
Definition: TransformationsImpl.h:89
TransformationsImpl::PureTranslation::description
static const std::string description()
Definition: TransformationsImpl.h:84
PointMatcher::Transformation
A function that transforms points and their descriptors given a transformation matrix.
Definition: PointMatcher.h:404
TransformationsImpl::Transformation
PointMatcher< T >::Transformation Transformation
Definition: TransformationsImpl.h:52
TransformationsImpl::RigidTransformation::description
static const std::string description()
Definition: TransformationsImpl.h:56
TransformationsImpl::PureTranslation::inPlaceCompute
virtual void inPlaceCompute(const TransformationParameters &parameters, DataPoints &cloud) const
Definition: TransformationsImpl.cpp:268
TransformationsImpl::PureTranslation
Definition: TransformationsImpl.h:82
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
TransformationsImpl::SimilarityTransformation
Definition: TransformationsImpl.h:68
TransformationsImpl::SimilarityTransformation::description
static const std::string description()
Definition: TransformationsImpl.h:70
TransformationsImpl::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: TransformationsImpl.h:50
PointMatcherSupport::Parametrizable::parameters
Parameters parameters
parameters with their values encoded in string
Definition: Parametrizable.h:204
TransformationsImpl::SimilarityTransformation::correctParameters
virtual TransformationParameters correctParameters(const TransformationParameters &parameters) const
Nothing to correct for a similarity transform.
Definition: TransformationsImpl.cpp:251
TransformationsImpl::RigidTransformation::RigidTransformation
RigidTransformation()
Definition: TransformationsImpl.h:61
TransformationsImpl::RigidTransformation::checkParameters
virtual bool checkParameters(const TransformationParameters &parameters) const
Ensure orthogonality of the rotation matrix.
Definition: TransformationsImpl.cpp:113
TransformationsImpl::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: TransformationsImpl.h:51
TransformationsImpl::RigidTransformation
Definition: TransformationsImpl.h:54
TransformationsImpl::RigidTransformation::correctParameters
virtual TransformationParameters correctParameters(const TransformationParameters &parameters) const
Force orthogonality of the rotation matrix.
Definition: TransformationsImpl.cpp:131
TransformationsImpl::P
PointMatcherSupport::Parametrizable P
Definition: TransformationsImpl.h:45
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
TransformationsImpl::SimilarityTransformation::inPlaceCompute
virtual void inPlaceCompute(const TransformationParameters &parameters, DataPoints &cloud) const
SimilarityTransformation.
Definition: TransformationsImpl.cpp:191
TransformationsImpl::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: TransformationsImpl.h:48
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
TransformationsImpl::SimilarityTransformation::checkParameters
virtual bool checkParameters(const TransformationParameters &parameters) const
Nothing to check for a similarity transform.
Definition: TransformationsImpl.cpp:243
PointMatcher.h
public interface
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
TransformationsImpl::PureTranslation::checkParameters
virtual bool checkParameters(const TransformationParameters &parameters) const
Definition: TransformationsImpl.cpp:301


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