Represents a 3D rigid body transformation (rotation + translation). More...

#include <Transform.h>

Public Member Functions
	Transform ()
	Default constructor. Initializes to a null (all zeros) transform.

	Transform (float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)
	Constructor from rotation matrix elements and translation components.

	Transform (const cv::Mat &transformationMatrix)
	Constructs a Transform from a 3x4 OpenCV matrix.

	Transform (float x, float y, float z, float roll, float pitch, float yaw)
	Constructs a Transform from position and Euler angles (in radians).

	Transform (float x, float y, float z, float qx, float qy, float qz, float qw)
	Constructs a Transform from position and quaternion.

	Transform (float x, float y, float theta)
	Constructs a 2D Transform (x, y, theta).

Transform	clone () const
	Returns a deep copy of the transform.

float	r11 () const
	Rotation matrix element at row 1, col 1.

float	r12 () const

float	r13 () const

float	r21 () const

float	r22 () const

float	r23 () const

float	r31 () const

float	r32 () const

float	r33 () const

float	o14 () const
	Translation x.

float	o24 () const
	Translation y.

float	o34 () const
	Translation z.

float &	operator[] (int index)

const float &	operator[] (int index) const

float &	operator() (int row, int col)

const float &	operator() (int row, int col) const

bool	isNull () const
	Checks whether the transform is null (all zeros).

bool	isIdentity () const
	Checks whether the transform is identity.

void	setNull ()
	Sets the transform to null (zero matrix).

void	setIdentity ()
	Sets the transform to the identity transform.

const cv::Mat &	dataMatrix () const
	Returns the internal OpenCV matrix (3x4).

const float *	data () const
	Returns a pointer to the raw data (12 floats).

float *	data ()

int	size () const
	Returns the number of float elements (always 12).

float &	x ()
	Translation getters/setters.

float &	y ()
	Translation y.

float &	z ()
	Translation z.

const float &	x () const

const float &	y () const

const float &	z () const

float	theta () const
	Returns 2D orientation (theta) in radians.

bool	isInvertible () const
	Returns whether the transform is invertible.

Transform	inverse () const
	Returns the inverse of the transform.

Transform	rotation () const
	Returns only the rotation component.

Transform	translation () const
	Returns only the translation component.

Transform	to3DoF () const
	Converts to 3 DoF (x, y, theta).

Transform	to4DoF () const
	Converts to 4 DoF (x, y, z, yaw).

bool	is3DoF () const
	Checks if the transform is 3 DoF (no pitch/roll).

bool	is4DoF () const
	Checks if the transform is 4 DoF (no pitch).

cv::Mat	rotationMatrix () const
	Returns the 3x3 rotation matrix (cv::Mat).

cv::Mat	translationMatrix () const
	Returns the 3x1 translation matrix (cv::Mat).

void	getTranslationAndEulerAngles (float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
	Extracts translation and Euler angles (radians).

void	getEulerAngles (float &roll, float &pitch, float &yaw) const
	Extracts Euler angles (roll, pitch, yaw).

void	getTranslation (float &x, float &y, float &z) const
	Extracts translation only.

float	getAngle (const Transform &t) const
	Returns angular difference (in radians) with another transform.

float	getNorm () const
	Returns the Euclidean norm of the translation vector.

float	getNormSquared () const
	Returns the squared norm of the translation vector.

float	getDistance (const Transform &t) const
	Returns the Euclidean distance to another transform.

float	getDistanceSquared (const Transform &t) const
	Returns the squared distance to another transform.

Transform	interpolate (float t, const Transform &other) const
	Interpolates between this and another transform.

void	normalizeRotation ()
	Normalizes the rotation matrix.

std::string	prettyPrint () const
	Returns a string representation of the transform.

Transform	operator* (const Transform &t) const
	Operator overloads.

Transform &	*operator=** (const Transform &t)

bool	operator== (const Transform &t) const

bool	operator!= (const Transform &t) const

Eigen::Matrix4f	toEigen4f () const

Eigen::Matrix4d	toEigen4d () const

Eigen::Affine3f	toEigen3f () const

Eigen::Affine3d	toEigen3d () const

Eigen::Quaternionf	getQuaternionf () const

Eigen::Quaterniond	getQuaterniond () const

Static Public Member Functions
static Transform	getIdentity ()
	Returns identity transform.

static Transform	fromEigen4f (const Eigen::Matrix4f &matrix)
	Converts from Eigen representations.

static Transform	fromEigen4d (const Eigen::Matrix4d &matrix)

static Transform	fromEigen3f (const Eigen::Affine3f &matrix)

static Transform	fromEigen3d (const Eigen::Affine3d &matrix)

static Transform	fromEigen3f (const Eigen::Isometry3f &matrix)

static Transform	fromEigen3d (const Eigen::Isometry3d &matrix)

static Transform	fromEigen3f (const Eigen::Matrix< float, 3, 4 > &matrix)

static Transform	fromEigen3d (const Eigen::Matrix< double, 3, 4 > &matrix)

static Transform	opengl_T_rtabmap ()
	Returns the transform from RTAB-Map to OpenGL coordinate system.

static Transform	rtabmap_T_opengl ()
	Returns the transform from OpenGL to RTAB-Map coordinate system.

static Transform	fromString (const std::string &string)
	Parses a transform from a string representation. Supported formats:

static bool	canParseString (const std::string &string)
	Checks if a string can be parsed into a transform.

static Transform	getTransform (const std::map< double, Transform > &tfBuffer, const double &stamp)
	Retrieves the transform to a given timestamp.

static RTABMAP_DEPRECATED Transform	getClosestTransform (const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)

Detailed Description

Represents a 3D rigid body transformation (rotation + translation).

This class provides an abstraction over 3D transformations using a 3x4 matrix representation, with utilities for conversion to/from Eigen and OpenCV formats, interpolation, inversion, DoF reduction, and distance calculations. It is fundamental to pose estimation and motion handling within the RTAB-Map framework.

The underlying data is stored in a cv::Mat (3x4, CV_32FC1), representing a rotation matrix and translation vector.

Definition at line 52 of file Transform.h.

Constructor & Destructor Documentation

◆ Transform() [1/4]

rtabmap::Transform::Transform	(	float	r11,
		float	r12,
		float	r13,
		float	o14,
		float	r21,
		float	r22,
		float	r23,
		float	o24,
		float	r31,
		float	r32,
		float	r33,
		float	o34
	)

Constructor from rotation matrix elements and translation components.

Parameters

r11...r33	Rotation matrix components.
o14,o24,o34	Translation vector components.

◆ Transform() [2/4]

rtabmap::Transform::Transform ( const cv::Mat & transformationMatrix )

Constructs a Transform from a 3x4 OpenCV matrix.

Parameters

transformationMatrix A 3x4 CV_32FC1 matrix.

◆ Transform() [3/4]

rtabmap::Transform::Transform	(	float	x,
		float	y,
		float	z,
		float	roll,
		float	pitch,
		float	yaw
	)

Constructs a Transform from position and Euler angles (in radians).

Parameters

x,y,z	Translation components.
roll,pitch,yaw	Euler rotation angles (ZYX-convention).

◆ Transform() [4/4]

rtabmap::Transform::Transform	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Constructs a Transform from position and quaternion.

Parameters

x,y,z	Translation components.
qx,qy,qz,qw	Quaternion rotation components.

Member Function Documentation

◆ r11()

float rtabmap::Transform::r11 ( ) const

inline

Rotation matrix element at row 1, col 1.

Definition at line 96 of file Transform.h.

◆ r12()

float rtabmap::Transform::r12 ( ) const

inline

Definition at line 97 of file Transform.h.

◆ r13()

float rtabmap::Transform::r13 ( ) const

inline

Definition at line 98 of file Transform.h.

◆ r21()

float rtabmap::Transform::r21 ( ) const

inline

Definition at line 99 of file Transform.h.

◆ r22()

float rtabmap::Transform::r22 ( ) const

inline

Definition at line 100 of file Transform.h.

◆ r23()

float rtabmap::Transform::r23 ( ) const

inline

Definition at line 101 of file Transform.h.

◆ r31()

float rtabmap::Transform::r31 ( ) const

inline

Definition at line 102 of file Transform.h.

◆ r32()

float rtabmap::Transform::r32 ( ) const

inline

Definition at line 103 of file Transform.h.

◆ r33()

float rtabmap::Transform::r33 ( ) const

inline

Definition at line 104 of file Transform.h.

◆ o14()

float rtabmap::Transform::o14 ( ) const

inline

Translation x.

Definition at line 106 of file Transform.h.

◆ o24()

float rtabmap::Transform::o24 ( ) const

inline

Translation y.

Definition at line 107 of file Transform.h.

◆ o34()

float rtabmap::Transform::o34 ( ) const

inline

Translation z.

Definition at line 108 of file Transform.h.

◆ operator[]() [1/2]

float & rtabmap::Transform::operator[] ( int index )

inline

Definition at line 110 of file Transform.h.

◆ operator[]() [2/2]

const float & rtabmap::Transform::operator[] ( int index ) const

inline

Definition at line 111 of file Transform.h.

◆ operator()() [1/2]

float & rtabmap::Transform::operator()	(	int	row,
		int	col
	)

inline

Definition at line 112 of file Transform.h.

◆ operator()() [2/2]

const float & rtabmap::Transform::operator()	(	int	row,
		int	col
	)		const

inline

Definition at line 113 of file Transform.h.

◆ dataMatrix()

const cv::Mat & rtabmap::Transform::dataMatrix ( ) const

inline

Returns the internal OpenCV matrix (3x4).

Definition at line 136 of file Transform.h.

◆ data() [1/2]

const float * rtabmap::Transform::data ( ) const

inline

Returns a pointer to the raw data (12 floats).

Definition at line 140 of file Transform.h.

◆ data() [2/2]

float * rtabmap::Transform::data ( )

inline

Definition at line 141 of file Transform.h.

◆ size()

int rtabmap::Transform::size ( ) const

inline

Returns the number of float elements (always 12).

Definition at line 146 of file Transform.h.

◆ x() [1/2]

float & rtabmap::Transform::x ( )

inline

Translation getters/setters.

Translation x

Definition at line 149 of file Transform.h.

◆ y() [1/2]

float & rtabmap::Transform::y ( )

inline

Translation y.

Definition at line 150 of file Transform.h.

◆ z() [1/2]

float & rtabmap::Transform::z ( )

inline

Translation z.

Definition at line 151 of file Transform.h.

◆ x() [2/2]

const float & rtabmap::Transform::x ( ) const

inline

Definition at line 152 of file Transform.h.

◆ y() [2/2]

const float & rtabmap::Transform::y ( ) const

inline

Definition at line 153 of file Transform.h.

◆ z() [2/2]

const float & rtabmap::Transform::z ( ) const

inline

Definition at line 154 of file Transform.h.

◆ interpolate()

Transform rtabmap::Transform::interpolate	(	float	t,
		const Transform &	other
	)		const

Interpolates between this and another transform.

Parameters

t	Interpolation factor [0, 1].
other	Target transform.

◆ opengl_T_rtabmap()

static Transform rtabmap::Transform::opengl_T_rtabmap ( )

inlinestatic

Returns the transform from RTAB-Map to OpenGL coordinate system.

Note

Coordinate systems:

OpenGL: x → right, y → up, z → out of the screen (toward viewer).
RTAB-Map: x → forward, y → left, z → up.

Definition at line 289 of file Transform.h.

◆ rtabmap_T_opengl()

static Transform rtabmap::Transform::rtabmap_T_opengl ( )

inlinestatic

Returns the transform from OpenGL to RTAB-Map coordinate system.

Note

Coordinate systems:

OpenGL: x → right, y → up, z → out of the screen (toward viewer).
RTAB-Map: x → forward, y → left, z → up.

Definition at line 299 of file Transform.h.

◆ fromString()

static Transform rtabmap::Transform::fromString ( const std::string & string )

static

Parses a transform from a string representation. Supported formats:

(3 values) "x y z"
(6 values) "x y z roll pitch yaw" (ZYX-Euler convention)
(7 values) "x y z qx qy qz qw"
(9 values, 3x3 rotation) "r11 r12 r13 r21 r22 r23 r31 r32 r33"

(12 values, 3x4 rotation) "r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz"

◆ getTransform()

static Transform rtabmap::Transform::getTransform	(	const std::map< double, Transform > &	tfBuffer,
		const double &	stamp
	)

static

Retrieves the transform to a given timestamp.

Parameters

tfBuffer	Buffer of timestamped transforms.
stamp	Requested timestamp.

Returns: transform at the requested timestamp, interpolated if it doesn't fall on a transform with the exact same timestamp in the buffer. If the timestamp is older than the oldest timestamp or newer than the latest timestamp in the buffer, a null transform is returned and a warning message is generated.

◆ getClosestTransform()

static RTABMAP_DEPRECATED Transform rtabmap::Transform::getClosestTransform	(	const std::map< double, Transform > &	tfBuffer,
		const double &	stamp,
		double *	stampDiff
	)

static

Deprecated:: Use getTransform() instead.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/Transform.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Transform() [1/4]

◆ Transform() [2/4]

◆ Transform() [3/4]

◆ Transform() [4/4]

Member Function Documentation

◆ r11()

◆ r12()

◆ r13()

◆ r21()

◆ r22()

◆ r23()

◆ r31()

◆ r32()

◆ r33()

◆ o14()

◆ o24()

◆ o34()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ dataMatrix()

◆ data() [1/2]

◆ data() [2/2]

◆ size()

◆ x() [1/2]

◆ y() [1/2]

◆ z() [1/2]

◆ x() [2/2]

◆ y() [2/2]

◆ z() [2/2]

◆ interpolate()

◆ opengl_T_rtabmap()

◆ rtabmap_T_opengl()

◆ fromString()

◆ getTransform()

◆ getClosestTransform()