#include "lvr2/types/MatrixTypes.hpp"#include "lvr2/io/Model.hpp"#include "lvr2/io/CoordinateTransform.hpp"#include <Eigen/Dense>#include "TransformUtils.tcc"
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Namespaces | |
| lvr2 | |
Functions | |
| template<typename T > | |
| Transform< T > | lvr2::buildTransformation (T *alignxf) |
| Transforms an slam6d transformation matrix into an Eigen 4x4 matrix. More... | |
| template<typename T > | |
| void | lvr2::eigenToEuler (Transform< T > &mat, T *pose) |
| template<typename T > | |
| void | lvr2::extrinsicsToEuler (Extrinsics< T > mat, T *pose) |
| template<typename T > | |
| void | lvr2::getPoseFromMatrix (BaseVector< T > &position, BaseVector< T > &angles, const Transform< T > &mat) |
| Computes a Euler representation from the given transformation matrix. More... | |
| template<typename T > | |
| Transform< T > | lvr2::inverseTransform (const Transform< T > &transform) |
| Computes the inverse transformation from the given transformation matrix, which means if transform encodes the transformation A->B, the return will transform from B to A. More... | |
| template<typename T > | |
| static Vector3< T > | lvr2::lvrToOpenCv (const Vector3< T > &in) |
| Lvr to OpenCV coordinate change: Point. More... | |
| template<typename T > | |
| static Rotation< T > | lvr2::lvrToOpenCv (const Rotation< T > &in) |
| template<typename T > | |
| static Transform< T > | lvr2::lvrToOpenCv (const Transform< T > &in) |
| template<typename T > | |
| static Vector3< T > | lvr2::lvrToSlam6d (const Vector3< T > &in) |
| Lvr to Slam6D coordinate change: Point. More... | |
| template<typename T > | |
| static Rotation< T > | lvr2::lvrToSlam6d (const Rotation< T > &in) |
| template<typename T > | |
| static Transform< T > | lvr2::lvrToSlam6d (const Transform< T > &in) |
| template<typename T > | |
| void | lvr2::matrixToPose (const Transform< T > &mat, Vector3< T > &position, Vector3< T > &rotation) |
| Extracts the Pose from a Matrix. More... | |
| template<typename T > | |
| static Vector3< T > | lvr2::openCvToLvr (const Vector3< T > &in) |
| OpenCV to Lvr coordinate change: Point. More... | |
| template<typename T > | |
| static Rotation< T > | lvr2::openCvToLvr (const Rotation< T > &in) |
| template<typename T > | |
| static Transform< T > | lvr2::openCvToLvr (const Transform< T > &in) |
| template<typename T > | |
| Transform< T > | lvr2::poseToMatrix (const Vector3< T > &position, const Vector3< T > &rotation) |
| Converts a Pose to a Matrix. More... | |
| template<typename T > | |
| static Transform< T > | lvr2::rieglToSLAM6DTransform (const Transform< T > &in) |
| Converts a transformation matrix that is used in riegl coordinate system into a transformation matrix that is used in slam6d coordinate system. More... | |
| template<typename T > | |
| static Vector3< T > | lvr2::slam6dToLvr (const Vector3< T > &in) |
| Slam6D to LVR coordinate change: Point. More... | |
| template<typename T > | |
| static Rotation< T > | lvr2::slam6dToLvr (const Rotation< T > &in) |
| template<typename T > | |
| static Transform< T > | lvr2::slam6dToLvr (const Transform< T > &in) |
| template<typename T > | |
| static Vector3< T > | lvr2::slam6DToRieglPoint (const Vector3< T > &in) |
| template<typename T > | |
| static Transform< T > | lvr2::slam6dToRieglTransform (const Transform< T > &in) |
| Converts a transformation matrix that is used in slam6d coordinate system into a transformation matrix that is used in riegl coordinate system. More... | |
| template<typename T > | |
| void | lvr2::transformAndReducePointCloud (ModelPtr model, int modulo, const T &sx, const T &sy, const T &sz, const unsigned char &xPos, const unsigned char &yPos, const unsigned char &zPos) |
| Transforms (scale and switch coordinates) and reduces a model containing point cloud data using a modulo filter. Use this function the convert between different coordinate systems. More... | |
| template<typename T > | |
| void | lvr2::transformAndReducePointCloud (ModelPtr &model, int modulo, const CoordinateTransform< T > &c) |
| Transforms (scale and switch coordinates) and reduces a model containing point cloud data using a modulo filter. Use this function the convert between different coordinate systems. More... | |
| template<typename T > | |
| Transform< T > | lvr2::transformFrame (const Transform< T > &frame, const CoordinateTransform< T > &ct) |
| Transforms the given source frame according to the given coordinate transform struct. More... | |
| template<typename T > | |
| void | lvr2::transformPointCloud (ModelPtr model, const Transform< T > &transformation) |
| Transforms a model containing a point cloud according to the given transformation (usually from a .frames file) More... | |
| template<typename T > | |
| Transform< T > | lvr2::transformRegistration (const Transform< T > &transform, const Transform< T > ®istration) |
| Transforms a registration matrix according to the given transformation matrix, i.e., applies transform to registration. More... | |