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@ethanuppal
ethanuppal committed May 2, 2024
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2 changes: 1 addition & 1 deletion docs/index.html
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<div class="contents">
<div class="textblock"><h1><a class="anchor" id="overview_sec"></a>
Overview</h1>
<p>Scan-matching is a method for localization that uses high-frequency LiDAR data. This project is <a href="https://ethanuppal.com">Ethan</a>'s implementation of algorithms for scan-matching.</p>
<p>Scan-matching is a method for localization that uses high-frequency LiDAR data. This project is <a href="https://ethanuppal.com">Ethan</a>'s implementation of algorithms for scan-matching. Please read <a href="/icp.pdf">this document</a> to learn more about the math.</p>
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<th style="text-align:left; vertical-align:top">Item </th><th style="text-align:left; vertical-align:top">Location </th></tr>
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24 changes: 18 additions & 6 deletions docs/lidar__view_8cpp_source.html
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> point[1] + <a class="code hl_variable" href="namespaceview__config.html#a50934da9836d2bf8337dfbca50d35d62">view_config::y_displace</a>, <a class="code hl_define" href="lidar__view_8cpp.html#a6b8b23eed4e4f833716ae707e231b19a">CIRCLE_RADIUS</a>);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> }</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> SDL_SetRenderDrawColor(renderer, 255, 0, 0, 100);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_typedef" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">icp::Vector</a>&amp; point: source) {</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_typedef" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">icp::Vector</a> result = <a class="code hl_namespace" href="namespaceicp.html">icp</a>-&gt;current_transform().apply_to(point);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> SDL_DrawCircle(renderer, result[0] + <a class="code hl_variable" href="namespaceview__config.html#ae0b80f041e46d84145ac6c6cc7ca0d75">view_config::x_displace</a>,</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> result[1] + <a class="code hl_variable" href="namespaceview__config.html#a50934da9836d2bf8337dfbca50d35d62">view_config::y_displace</a>, <a class="code hl_define" href="lidar__view_8cpp.html#a6b8b23eed4e4f833716ae707e231b19a">CIRCLE_RADIUS</a>);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> }</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordflow">if</span> (is_iterating) {</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_namespace" href="namespaceicp.html">icp</a>-&gt;iterate();</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> iterations++;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> }</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>}</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <a class="code hl_typedef" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">icp::Vector</a> a_cm =</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_namespace" href="namespaceicp.html">icp</a>-&gt;current_transform().apply_to(<a class="code hl_function" href="namespaceicp.html#acc0c99b29d9d6fa5275e5a04d7d36f4c">icp::get_centroid</a>(source));</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> SDL_SetRenderDrawColor(renderer, 255, 0, 0, 10);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> SDL_DrawCircle(renderer, a_cm.x() + <a class="code hl_variable" href="namespaceview__config.html#ae0b80f041e46d84145ac6c6cc7ca0d75">view_config::x_displace</a>,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> a_cm.y() + <a class="code hl_variable" href="namespaceview__config.html#a50934da9836d2bf8337dfbca50d35d62">view_config::y_displace</a>, 20);</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <a class="code hl_typedef" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">icp::Vector</a> b_cm = <a class="code hl_function" href="namespaceicp.html#acc0c99b29d9d6fa5275e5a04d7d36f4c">icp::get_centroid</a>(destination);</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> SDL_SetRenderDrawColor(renderer, 0, 0, 255, 10);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> SDL_DrawCircle(renderer, b_cm.x() + <a class="code hl_variable" href="namespaceview__config.html#ae0b80f041e46d84145ac6c6cc7ca0d75">view_config::x_displace</a>,</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> b_cm.y() + <a class="code hl_variable" href="namespaceview__config.html#a50934da9836d2bf8337dfbca50d35d62">view_config::y_displace</a>, 20);</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordflow">if</span> (is_iterating) {</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <a class="code hl_namespace" href="namespaceicp.html">icp</a>-&gt;iterate();</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> iterations++;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> }</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>}</div>
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<div class="ttc" id="aclass_lidar_view_html_a5845bccd63d38d8cc99ec2a213bf8495"><div class="ttname"><a href="class_lidar_view.html#a5845bccd63d38d8cc99ec2a213bf8495">LidarView::on_event</a></div><div class="ttdeci">void on_event(const SDL_Event &amp;event) override</div><div class="ttdef"><b>Definition</b> <a href="#l00029">lidar_view.cpp:29</a></div></div>
<div class="ttc" id="aclass_lidar_view_html_a78020bf794dd6ec61dd169e11193f45e"><div class="ttname"><a href="class_lidar_view.html#a78020bf794dd6ec61dd169e11193f45e">LidarView::LidarView</a></div><div class="ttdeci">LidarView(std::vector&lt; icp::Vector &gt; source, std::vector&lt; icp::Vector &gt; destination, const std::string method, const icp::ICP::Config &amp;config=icp::ICP::Config())</div><div class="ttdoc">Constructs a new lidar view visualizing ICP (by method method) on the given instance (source and dest...</div><div class="ttdef"><b>Definition</b> <a href="#l00017">lidar_view.cpp:17</a></div></div>
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<div class="ttc" id="alidar__view_8h_html"><div class="ttname"><a href="lidar__view_8h.html">lidar_view.h</a></div></div>
<div class="ttc" id="anamespaceicp_html"><div class="ttname"><a href="namespaceicp.html">icp</a></div><div class="ttdef"><b>Definition</b> <a href="geo_8cpp_source.html#l00009">geo.cpp:9</a></div></div>
<div class="ttc" id="anamespaceicp_html_aba583ee22f8131f5494d90fb3a611bd5"><div class="ttname"><a href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">icp::Vector</a></div><div class="ttdeci">Eigen::Vector2d Vector</div><div class="ttdef"><b>Definition</b> <a href="geo_8h_source.html#l00015">geo.h:15</a></div></div>
<div class="ttc" id="anamespaceicp_html_acc0c99b29d9d6fa5275e5a04d7d36f4c"><div class="ttname"><a href="namespaceicp.html#acc0c99b29d9d6fa5275e5a04d7d36f4c">icp::get_centroid</a></div><div class="ttdeci">Vector get_centroid(const std::vector&lt; Vector &gt; &amp;points)</div><div class="ttdef"><b>Definition</b> <a href="geo_8cpp_source.html#l00010">geo.cpp:10</a></div></div>
<div class="ttc" id="anamespaceview__config_html_a0a5a4ba1f038a1cb8ef8332983419366"><div class="ttname"><a href="namespaceview__config.html#a0a5a4ba1f038a1cb8ef8332983419366">view_config::use_light_background</a></div><div class="ttdeci">bool use_light_background</div><div class="ttdef"><b>Definition</b> <a href="view__config_8cpp_source.html#l00016">view_config.cpp:16</a></div></div>
<div class="ttc" id="anamespaceview__config_html_a50934da9836d2bf8337dfbca50d35d62"><div class="ttname"><a href="namespaceview__config.html#a50934da9836d2bf8337dfbca50d35d62">view_config::y_displace</a></div><div class="ttdeci">double y_displace</div><div class="ttdef"><b>Definition</b> <a href="view__config_8cpp_source.html#l00014">view_config.cpp:14</a></div></div>
<div class="ttc" id="anamespaceview__config_html_ae0b80f041e46d84145ac6c6cc7ca0d75"><div class="ttname"><a href="namespaceview__config.html#ae0b80f041e46d84145ac6c6cc7ca0d75">view_config::x_displace</a></div><div class="ttdeci">double x_displace</div><div class="ttdef"><b>Definition</b> <a href="view__config_8cpp_source.html#l00013">view_config.cpp:13</a></div></div>
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