Namespace of the Transformation and Registration Toolkit. More...
Namespaces | |
| namespace | Diffusion |
This namespace contains various functions regarding diffusion processes. | |
| namespace | Optimization |
This namespace contains various classes and functions to find the roots (zeros) or the local minima and maxima of a function. | |
| namespace | Signals |
This namespace contains various classes and functions related to the signals and slots implementation. | |
| namespace | Tools |
This namespace contains various helper functions. | |
Classes | |
| class | NetworkError |
| This exception is thrown in case of a network error. More... | |
| class | ConnectionClosed |
| This exception is thrown in case of an unexpectedly closed client connection. More... | |
| class | Client |
| Simple TCP/IP client. More... | |
| class | Server |
| Simple TCP/IP server (one client at a time). More... | |
| class | Clock |
| A simple clock class. More... | |
| class | Coordinate |
| A generic coordinate class. More... | |
| class | CorrelationSphere |
| class | ErrorObj |
| Error class that incorporates additional information. More... | |
| class | EstimateAffineTransformation2D |
| Estimates a 2D affine transformation from two point sets. More... | |
| class | EstimateAffineTransformation3D |
| Estimates a 3D affine transformation from two point sets. More... | |
| class | EstimateAffineTransformationFromPlaneTo3D |
| Estimates a 3D affine transformation from two point sets. More... | |
| class | EstimateProjectiveTransformation2D |
| Estimates a 2D projective transformation from two point sets. More... | |
| class | EstimateProjectiveTransformation3D |
| Estimates a 3D projective transformation from two point sets. More... | |
| class | EstimateRigidTransformation2D |
| Estimates a 2D rigid transformation from two point sets. More... | |
| class | EstimateRigidTransformation3D |
| Estimates a 3D rigid transformation from two point sets. More... | |
| class | EstimateSimilarityTransformation2D |
| Estimates a 2D similarity transformation from two point sets. More... | |
| class | EstimateSimilarityTransformation3D |
| Estimates a 3D similarity transformation from two point sets. More... | |
| class | EstimateTransformation |
| Base class for all transformation estimations from two point sets. More... | |
| class | EstimateTransformation2D |
| Base class for 2D transformation estimations from two point sets. More... | |
| class | EstimateTransformation3D |
| Base class for 3D transformation estimations from two point sets. More... | |
| class | Fit |
| Base class for all fitting classes. More... | |
| class | Fit2D |
| Base class for 2D fitting algorithms where fitting is done to a 2D point set. More... | |
| class | Fit3D |
| Base class for 3D fitting algorithms where fitting is done to a 3D point set. More... | |
| class | FitCircle |
| Estimates the parameters of a circle from a set of 2D points lying on the circle. More... | |
| class | FitCircle3D |
| Estimates the parameters of a circle in 3D space from a set of points lying on the circle. More... | |
| class | FitCircleInOrigin |
| Estimates the radius of a circle centered at the origin from a set of 2D points. More... | |
| class | FitLine |
| Estimates the parameters of a line from a set of 2D points. More... | |
| class | FitLine3D |
| Estimates the parameters of a line in 3D space from a set of points lying on the line. More... | |
| class | FitPlane |
| Estimates the parameters of a 2D plane in 3D space from a set of points lying on the surface. More... | |
| class | FitSphere |
| Estimates the parameters of a 3D sphere from a set of points lying on the surface. More... | |
| class | GenericPolynomial |
| Multivariate multidimensional polynomial. More... | |
| class | IcpInterface |
| Iterative Closest Point. More... | |
| class | IcpBase |
| Base class for all ICP implementations. More... | |
| class | Icp3D |
| ICP algorithm for 3D point clouds as described by Besl and McKay [1]. More... | |
| class | IcpTrimmed3D |
| Trimmed ICP algorithm for 3D point clouds. More... | |
| class | RandomSampleIcp3D |
| Random Sample ICP algorithm for 3D point clouds. More... | |
| class | Interpolation2D |
| Two-dimensional interpolation for irregularly-spaced data. More... | |
| class | Interpolation3D |
| Three-dimensional interpolation for irregularly-spaced data. More... | |
| class | Iterator |
| Common base class for input iterator adapter classes. More... | |
| class | IteratorAdapter |
| Adapter class for arbitrary input iterator classes. More... | |
| class | PinholeCameraModel |
| A simple pinhole camera model. More... | |
| class | PivotCalibration |
| This is the common interface for all pivot-point-calibration classes. More... | |
| class | PivotCalibrationCombinatorialApproach |
| Pivot point calibration. More... | |
| class | PivotCalibrationLeastSquares |
| Pivot point calibration. More... | |
| class | PivotCalibrationPATM |
| Pivot point calibration. More... | |
| class | PivotCalibrationTwoStep |
| Pivot point calibration. More... | |
| class | Polynomial |
| Interface class for all polynomials. More... | |
| class | Range |
| Aggregate of two input iterator adapters. More... | |
| class | Ransac |
| Robust model fitting. More... | |
| class | RansacGenericFittingModel |
| This class implements the Ransac::Model interface for all fitting classes. More... | |
| class | RansacPivotCalibrationModel |
| This class implements the Ransac::Model interface for all PivotCalibration classes. More... | |
| class | RegionGrowing2D |
| Segmentation of simply connected spaces in 2D data. More... | |
| class | RegionGrowing3D |
| Segmentation of simply connected spaces in 3D data. More... | |
| class | SurfaceExtraction3D |
| Surface extraction of simply connected spaces in 3D data. More... | |
| class | Timestamp |
| A class for managing timestamps of various objects by using names. Dependencies between objects can be specified and checked for being up-to-date. More... | |
| class | Transform2D |
| Affine or projective transformation in 2D. More... | |
| class | Transform3D |
| Affine or projective transformation in 3D. More... | |
| class | TrivariateQuadraticPolynomial |
| Trivariate quadratic polynomial. More... | |
Enumerations | |
| enum | { DATA_RECEIVED = 1 } |
Functions | |
| void | receive_all (int socket_fd, char *&data, size_t &size) |
| Receives a block of data from the given socket. | |
| void | send_all (int socket_fd, const char *data, size_t size) |
| Sends a block of data over the given socket. | |
| std::ostream & | operator<< (std::ostream &output, Clock &clock) |
| Coordinate< double > | operator+ (int, const Coordinate< double > &) |
| Coordinate< double > | operator- (int, const Coordinate< double > &) |
| Coordinate< double > | operator* (int, const Coordinate< double > &) |
| Coordinate< double > | operator/ (int, const Coordinate< double > &) |
| Coordinate< int > | operator+ (double, const Coordinate< int > &) |
| Coordinate< int > | operator- (double, const Coordinate< int > &) |
| Coordinate< int > | operator* (double, const Coordinate< int > &) |
| Coordinate< int > | operator/ (double, const Coordinate< int > &) |
| template<class T > | |
| Coordinate< T > | operator+ (T, const Coordinate< T > &coordinate) |
| template<class T > | |
| Coordinate< T > | operator- (T, const Coordinate< T > &coordinate) |
| template<class T > | |
| Coordinate< T > | operator* (T, const Coordinate< T > &coordinate) |
| template<class T > | |
| Coordinate< T > | operator/ (T, const Coordinate< T > &coordinate) |
| template<class T > | |
| std::istream & | operator>> (std::istream &, Coordinate< T > &) |
| Reads Coordinate from input stream. | |
| template<class T > | |
| std::ostream & | operator<< (std::ostream &, const Coordinate< T > &) |
| Writes Coordinate to output stream. | |
| template<class T > | |
| TRTK::Coordinate< T > | sqrt (const TRTK::Coordinate< T > &coordinate) |
| Computes the square root of each element. | |
| long long | binomial (int n, int k) |
| Returns the binomial coefficient "n choose k". | |
| template<class T > | |
| unsigned long | distance (Iterator< T > first, Iterator< T > last) |
| template<class T , class InputIterator > | |
| unsigned long | distance (IteratorAdapter< T, InputIterator > first, IteratorAdapter< T, InputIterator > last) |
| template<class T > | |
| double | test (const int t) |
| template<class T > | |
| std::tuple< Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > , Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > > | computeRQDecomposition (const Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > &A) |
| RQ decomposition of a square matrix. | |
Variables | |
| const double | pi = 3.141592653589793238 |
Namespace of the Transformation and Registration Toolkit.
A generic coordinate class.
This is the global namespace of the Transformation and Registration Toolkit. All functions and classes are surrounded by this namespace.
| T | scalar type |
Line3D represents an ordinary line that consists of one point on the line and normal vector. This line is represented in 3 dimensions. Its elements are of Coordinate<T> T and can be freely chosen, thus also allowing the use of classes with arbitrary precision (like CLN or GMP), for instance.
Here are some examples:
using namespace TRTK;
Line3D<T> line1(Coordinate<double> point(1, 0), Coordinate<double> direction(1, 0));
Line3D<T> line2(Line3D<T> line1);
Line3D<T> line3 = line1 * 3 ;
!!cout << c3 << endl
!! << c3.norm() << endl
!! << (c3, 1) << endl;
!!
!! Output:
!!
!!(3, 4) !!5 !!(3, 4, 1) !!
TODO typedef Line3D<double> CoordinateD; typedef Coordinate<int> CoordinateI;
| std::tuple<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>, Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> > TRTK::computeRQDecomposition | ( | const Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > & | A ) |
RQ decomposition of a square matrix.
| T | scalar (floating point) type |
| [in] | A | square matrix |
This decomposition is unique if A is of full rank (i.e., if A is invertable). Then, R is computed in such a way that all diagonal elements are positive.
Note, this function computes the RQ decomposition of a square matrix and not the QR decomposition. The order of the orthogonal matrix and the upper triangular matrix is reversed.
Definition at line 75 of file PinholeCameraModel.hpp.
| void TRTK::receive_all | ( | int | socket_fd, |
| char *& | data, | ||
| size_t & | size | ||
| ) |
Receives a block of data from the given socket.
In case of an aborted connection the receiving process is resumed. The returned block of data must be deleted by the user!
Definition at line 73 of file ClientServer.cpp.
| void TRTK::send_all | ( | int | socket_fd, |
| const char * | data, | ||
| size_t | size | ||
| ) |
Sends a block of data over the given socket.
In case of an aborted connection the sending process is resumed. At most 65536 bytes can be sent, otherwise sending must be serialized.
Definition at line 152 of file ClientServer.cpp.
| TRTK::Coordinate< T > TRTK::sqrt | ( | const TRTK::Coordinate< T > & | coordinate ) |
Computes the square root of each element.
Definition at line 1849 of file Coordinate.hpp.
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