Transformation and Registration Toolkit

Version 1.5.0

This is the API documentation for the Transformation and Registration Toolkit.

The toolkit comprises several C++ classes dealing with various aspects of registration, curve and surface fitting as well as transformation estimation.

To get started, please have a look a the Tutorial.

Quick Navigation

• Classes and Namespaces by Topic
  • Calibration
  • Correlation
  • Data Enhancement
  • Data Structures
  • Error Handling
  • Fitting
  • Iterative Closest Point (ICP)
  • Camera Calibration
  • Interpolation
  • Miscellaneous
  • Optimization
  • Polynomials
  • RANSAC
  • Segmentation
  • Tools
  • Transformations
  • Transformation Estimation

Table of Contents

• Getting Started
  • Copyright and Licences Information
  • Installation Instructions
  • Building the Documentation
  • Short Tutorial
  • Homogeneous Coordinates
• Available Classes and Namespaces
  • Data Structures
    • A Simple Circle Structure
  • Error Handling
    • A General Error Class
  • Transformations
    • A Coordinate Class
    • Transforming 2D Coordinates
    • Transforming 3D Coordinates
  • Transformation Estimation
    • 2D
      • Estimation of a 2D Rigid Transformation
      • Estimation of a 2D Similarity Transformation
      • Estimation of a 2D Affine Transformation
      • Estimation of a 2D Projective Transformation
    • 3D
      • Estimation of a 3D Rigid Transformation
      • Estimation of a 3D Similarity Transformation
      • Estimation of a 3D Affine Transformation
      • Estimation of a 3D Affine Transformation (Source Points in the X-Y-Plane)
      • Estimation of a 3D Projective Transformation
  • Fitting
    • 2D
      • Fit a Cirlce in 2D Space
      • Fit a Cirlce Residing at the Origin in 2D Space
      • Fit a Line in 2D Space
    • 3D
      • Fit a Cirlce in 3D Space
      • Fit a Line in 3D Space
      • Fit a Plane in 3D Space
      • Fit a Sphere in 3D Space
  • Polynomials (Mapping and Estimation)
    • 2D
      • Bivariate Quadratic Polynomial
      • Bivariate Cubic Polynomial
      • Bivariate Quintic Polynomial
      • Bivariate Sextic Polynomial
    • 3D
      • Trivariate Quadratic Polynomial
      • Trivariate Cubic Polynomial
    • Generic
      • Multidimensional Multivariate Polynomial of Arbitrary Degree
  • RANSAC
    • Ransac Class
    • Model Interface
    • Model For Use With Fitting Classes
    • Model For Use With Pivot Calibration Classes
  • Iterative Closest Point (ICP)
    • ICP Interface Class
    • ICP in 3D Space
    • Random Sample ICP in 3D Space
    • Trimmed ICP (TrICP) in 3D Space
  • Camera Calibration
    • Pinhole Camera Model and its Parameter Estimation
  • Optimization
    • Functor that Provides the Gradient of a Function
    • Jacobian of a Function
    • Solver for Unary Scalar-Valued Functions (Newton-Raphson Method)
    • Solver for Vector-Valued Multivariate Functions
      • Levenberg-Marquardt Algorithm for Vector-Valued Multivariate Functions
      • Newton-Raphson Method for Vector-Valued Multivariate Functions
  • Segmentation
    • Segmentation of Simply Connected Spaces in 2D Data (Region Growing)
    • Segmentation of Simply Connected Spaces in 3D Data (Region Growing)
    • Surface Extraction in 3D Data
  • Correlation
    • Automatic Circle Detection
    • Cross-Correlation between Circle and Image Data
  • Calibration
    • Pivot Calibration (Common Interface)
      • Pivot Calibration + RANSAC
      • PivotCalibrationCombinatorialApproach
      • PivotCalibrationLeastSquares
      • PivotCalibrationPATM
      • PivotCalibrationTwoStep
  • Data Enhancement
    • Diffusion Module
      • Computation of the 1st Derivative of a Signal
      • Computation of the 2nd Derivative of a Signal
      • Linear Diffusion of a 1-Dimensional Signal
      • Nonlinear Isotropic Diffusion of a 1-Dimensional Signal (Overloaded)
  • Interpolation
    • 2D
      • Two-dimensional Interpolation of Irregularly-Spaced Data
      • InterpolationOnGrid2D
    • 3D
      • Three-Dimensional Interpolation of Irregularly-Spaced Data
      • InterpolationOnGrid3D
  • Tools
    • Classes and Inheritance
      • Type Checking (isClass)
      • Inheritance Check (isDerivedFrom)
    • Containers
      • Conversion of a List to a Vector
      • Conversion of a Vector to a List
      • mean, weighted mean, standard deviation, etc.
    • Files
      • Checking for an Existing File
      • Determining the Length of a File or a File Stream
    • Numbers (Comparisons, Conversions, Random Numbers, etc.)
      • Conversion of an Eigen 3x3 matrix into a QTransform
      • Test for Equality
      • Test for Zero
      • Uniformly Distributed Random Number
      • Normally Distributed Random Number
      • Conversion to std::string
      • Different representations of rotation (matrix, axis-angle, ...) and conversions between them.
      • Conversion between Cartesian coordinates and spherical coordinates.
  • Miscellaneous
    • A Simple Clock Class
    • A Simple TCP/IP Client and Server
    • Adapter Classes for Iterators
    • Macro Definitions and Constants in the TRTK Library
    • Range - Aggregate of Input Iterator Adapters
    • Signals and Slots
    • Timestamps and Dependencies Between Objects
    • Miscellaneous Tools
    • Version Information
• Miscellaneous
  • Coding Style Guidelines (ToDo)
• Automatically Generated Pages
  • Bug List
  • Deprecated List
  • Test List
  • ToDo List