Definition at line 66 of file icp.h.
@@ -629,7 +728,7 @@See also ICP::current_cost.
-Definition at line 48 of file icp.h.
+Definition at line 60 of file icp.h.
@@ -659,8 +758,8 @@
-◆ t
+
+◆ transform
@@ -669,7 +768,7 @@
- Transform icp::ICP::t
+ RBTransform icp::ICP::transform
diff --git a/docs/dir_156e6a4e01c93213f20015fc7847b1f4.html b/docs/dir_156e6a4e01c93213f20015fc7847b1f4.html
index f662af1..4ebb577 100644
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+++ b/docs/dir_156e6a4e01c93213f20015fc7847b1f4.html
@@ -81,6 +81,11 @@
+
+Directories
old
Files
geo.cpp icp.h point_to_line.cpp point_to_line.d point_to_point.cpp point_to_point.d vanilla.cpp vanilla.d
Directories
algo icp sim scan matching: src/algo Directory Reference
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+Files
kdtree.cpp kdtree.d kdtree.h
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1.10.0
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diff --git a/docs/dir_e86b0e4603fcde4bd095119c32ac8e36.html b/docs/dir_e86b0e4603fcde4bd095119c32ac8e36.html
new file mode 100644
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point_to_line.cpp point_to_point.cpp
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diff --git a/docs/doxygen_crawl.html b/docs/doxygen_crawl.html
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@@ -77,32 +77,35 @@
Here is a list of all files with brief descriptions:
-[detail level 123]
+[detail level 1234]
book ▼ src ▼ icp geo.cpp geo.d geo.h icp.cpp icp.d icp.h point_to_line.cpp point_to_line.d point_to_point.cpp point_to_point.d vanilla.cpp vanilla.d ▼ sim instance.cpp instance.d instance.h lidar_view.cpp lidar_view.d lidar_view.h sim_config.cpp sim_config.d sim_config.h ▼ algo kdtree.cpp kdtree.d kdtree.h ▼ icp ▼ old point_to_line.cpp point_to_point.cpp geo.cpp geo.d geo.h icp.cpp icp.d icp.h vanilla.cpp vanilla.d ▼ sim instance.cpp instance.d instance.h lidar_view.cpp lidar_view.d lidar_view.h sim_config.cpp sim_config.d sim_config.h
diff --git a/docs/functions.html b/docs/functions.html
index d19c2e8..2460685 100644
--- a/docs/functions.html
+++ b/docs/functions.html
@@ -75,25 +75,32 @@
Here is a list of all class members with links to the classes they belong to:
+- a -
+- a : icp::ICP
+- a_cm : icp::ICP
+- apply_to() : icp::RBTransform
+
+
+
- b -
- c -
-- cm : icp::Transform
- construct_instance() : LidarView
-- converge() : icp::ICP
+- converge() : icp::ICP
- cost() : icp::ICP
- current_cost : icp::ICP
+- current_transform() : icp::ICP
- d -
- dist : icp::ICP
- draw() : LidarView
-- dx : icp::Transform
-- dy : icp::Transform
@@ -103,14 +110,14 @@ - f -
- g -
- i -
@@ -126,42 +133,29 @@ - o -
- p -
- pair : icp::ICP
-- Point() : icp::Point
- previous_cost : icp::ICP
- r -
- rate : icp::ICP
+- RBTransform() : icp::RBTransform
- register_method() : icp::ICP
- registered_method_constructors : icp::Methods
- registered_method_names : icp::Methods
- registered_methods() : icp::ICP
+- rotation : icp::RBTransform
- s -
- t -
-- t : icp::ICP
-- theta : icp::Transform
-- transform() : icp::ICP
-- Transform() : icp::Transform
-- transform_x() : icp::Transform
-- transform_y() : icp::Transform
-
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-- x -
-- x : icp::Point
-
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-- y -
-- y : icp::Point
+- transform : icp::ICP
+- translation : icp::RBTransform
diff --git a/docs/functions_func.html b/docs/functions_func.html
index b924e68..7e2e0d7 100644
--- a/docs/functions_func.html
+++ b/docs/functions_func.html
@@ -74,26 +74,24 @@
Here is a list of all functions with links to the classes they belong to:
-- begin() : icp::ICP
+- apply_to() : icp::RBTransform
+- begin() : icp::ICP
- construct_instance() : LidarView
-- converge() : icp::ICP
+- converge() : icp::ICP
- cost() : icp::ICP
+- current_transform() : icp::ICP
- draw() : LidarView
- from_method() : icp::ICP
-- get_dest() : LidarView
-- get_source() : LidarView
+- get_dest() : LidarView
+- get_source() : LidarView
- ICP() : icp::ICP
-- iterate() : icp::ICP
+- iterate() : icp::ICP
- LidarView() : LidarView
- on_event() : LidarView
-- Point() : icp::Point
+- RBTransform() : icp::RBTransform
- register_method() : icp::ICP
- registered_methods() : icp::ICP
-- setup() : icp::ICP
-- transform() : icp::ICP
-- Transform() : icp::Transform
-- transform_x() : icp::Transform
-- transform_y() : icp::Transform
+- setup() : icp::ICP
- ~ICP() : icp::ICP
- ~LidarView() : LidarView
diff --git a/docs/functions_vars.html b/docs/functions_vars.html
index aac90fb..48afc0a 100644
--- a/docs/functions_vars.html
+++ b/docs/functions_vars.html
@@ -74,20 +74,20 @@
Here is a list of all variables with links to the classes they belong to:
-- cm : icp::Transform
+- a : icp::ICP
+- a_cm : icp::ICP
+- b : icp::ICP
+- b_cm : icp::ICP
- current_cost : icp::ICP
- dist : icp::ICP
-- dx : icp::Transform
-- dy : icp::Transform
- pair : icp::ICP
- previous_cost : icp::ICP
- rate : icp::ICP
- registered_method_constructors : icp::Methods
- registered_method_names : icp::Methods
-- t : icp::ICP
-- theta : icp::Transform
-- x : icp::Point
-- y : icp::Point
+- rotation : icp::RBTransform
+- transform : icp::ICP
+- translation : icp::RBTransform
diff --git a/docs/geo_8cpp.html b/docs/geo_8cpp.html
index bd0f5dd..ac9140d 100644
--- a/docs/geo_8cpp.html
+++ b/docs/geo_8cpp.html
@@ -94,8 +94,8 @@
Functions
Point icp::get_center_of_mass (const std::vector< Point > &points) Vector icp::get_centroid (const std::vector< Vector > &points)
diff --git a/docs/geo_8cpp_source.html b/docs/geo_8cpp_source.html
index ee2e076..1992273 100644
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-Point get_center_of_mass(const std::vector< Point > &points)Definition geo.cpp:6
-Definition geo.h:9
-
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diff --git a/docs/geo_8d_source.html b/docs/geo_8d_source.html
index 4673d5c..5195fe6 100644
--- a/docs/geo_8d_source.html
+++ b/docs/geo_8d_source.html
@@ -85,10 +85,392 @@
geo.d
-Go to the documentation of this file.
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diff --git a/docs/geo_8h.html b/docs/geo_8h.html
index d0420db..831ec2d 100644
--- a/docs/geo_8h.html
+++ b/docs/geo_8h.html
@@ -80,20 +80,21 @@
geo.h File Reference
#include <vector>
#include <cmath>
+#include <Eigen/Core>
Go to the source code of this file.
Classes
struct icp::Point struct icp::Transform struct icp::RBTransform Rigid-body transformation. More...
@@ -101,10 +102,17 @@
namespace icp
+
+Typedefs
using icp::Vector = Eigen::Vector2d using icp::Matrix = Eigen::Matrix2d
Functions
Point icp::get_center_of_mass (const std::vector< Point > &points) Vector icp::get_centroid (const std::vector< Vector > &points)
diff --git a/docs/geo_8h_source.html b/docs/geo_8h_source.html
index a60783d..16f6dc9 100644
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-Point get_center_of_mass(const std::vector< Point > &points)Definition geo.cpp:6
-Definition geo.h:9
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-Definition geo.h:17
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diff --git a/docs/hierarchy.html b/docs/hierarchy.html
index 619988b..2677e52 100644
--- a/docs/hierarchy.html
+++ b/docs/hierarchy.html
@@ -80,10 +80,9 @@
[detail level 12]
Cicp::ICP Interface for iterative closest points; please read the Detailed Description for usage information Cicp::Methods Cicp::Point Cicp::Transform ▼CView CLidarView Cicp::RBTransform Rigid-body transformation ▼CView CLidarView
diff --git a/docs/icp_8cpp_source.html b/docs/icp_8cpp_source.html
index 22bbb95..83952c4 100644
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-virtual void setup(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)Definition icp.cpp:13
-static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:60
-double previous_costKeeps track of the previous cost to ensure that progress is being made.Definition icp.h:48
-void converge(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, double convergence_threshold)Perform ICP for point clouds a and b until the cost is below convergence_threshold or until no progre...Definition icp.cpp:24
-
-void begin(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, Transform t)Begins the ICP process for point clouds a and b with an initial guess for the transform t.Definition icp.cpp:16
-
-static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:47
+
+
+static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:82
+double previous_costKeeps track of the previous cost to ensure that progress is being made.Definition icp.h:60
+
+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
+void converge(double convergence_threshold)Perform ICP for point clouds a and b provided with ICP::begin until the cost is below convergence_thr...Definition icp.cpp:47
+
+
+
+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
+
+
-static const std::vector< std::string > & registered_methods()Returns a current list of the names of currently registered ICP methods.Definition icp.cpp:55
+static const std::vector< std::string > & registered_methods()Returns a current list of the names of currently registered ICP methods.Definition icp.cpp:77
+
+void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)Begins the ICP process for point clouds a and b with an initial guess for the transform t.Definition icp.cpp:15
ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
-
-virtual void iterate(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)=0Perform one iteration of ICP for point clouds a and b.
+
+virtual void iterate()=0Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
+
-Definition icp.h:111
-std::vector< std::string > registered_method_namesDefinition icp.h:112
-std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructorsDefinition icp.h:114
-Definition geo.h:17
+
+
+Definition icp.h:122
+std::vector< std::string > registered_method_namesDefinition icp.h:123
+std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructorsDefinition icp.h:125
+
diff --git a/docs/icp_8d_source.html b/docs/icp_8d_source.html
index 542630b..2152471 100644
--- a/docs/icp_8d_source.html
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diff --git a/docs/icp_8h_source.html b/docs/icp_8h_source.html
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Interface for iterative closest points; please read the Detailed Description for usage information.Definition icp.h:38
-
-virtual void setup(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)Definition icp.cpp:13
-static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:60
-double previous_costKeeps track of the previous cost to ensure that progress is being made.Definition icp.h:48
-void converge(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, double convergence_threshold)Perform ICP for point clouds a and b until the cost is below convergence_threshold or until no progre...Definition icp.cpp:24
-
-void begin(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, Transform t)Begins the ICP process for point clouds a and b with an initial guess for the transform t.Definition icp.cpp:16
-
-static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:47
-
+
+static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:82
+double previous_costKeeps track of the previous cost to ensure that progress is being made.Definition icp.h:60
+
+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
+void converge(double convergence_threshold)Perform ICP for point clouds a and b provided with ICP::begin until the cost is below convergence_thr...Definition icp.cpp:47
+
+
+
+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
+
+
virtual ~ICP()=default
-static const std::vector< std::string > & registered_methods()Returns a current list of the names of currently registered ICP methods.Definition icp.cpp:55
+static const std::vector< std::string > & registered_methods()Returns a current list of the names of currently registered ICP methods.Definition icp.cpp:77
+
+void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)Begins the ICP process for point clouds a and b with an initial guess for the transform t.Definition icp.cpp:15
ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
-
-virtual void iterate(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)=0Perform one iteration of ICP for point clouds a and b.
-
+
+virtual void iterate()=0Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
+
-Definition icp.h:111
-std::vector< std::string > registered_method_namesDefinition icp.h:112
-std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructorsDefinition icp.h:114
-Definition geo.h:17
+
+Definition icp.h:122
+std::vector< std::string > registered_method_namesDefinition icp.h:123
+std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructorsDefinition icp.h:125
+
diff --git a/docs/index.html b/docs/index.html
index 4298c06..ebf2884 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -128,7 +128,7 @@
Now, run
git clone https://github.com/cornellev/scan-matching.git
cd scan-matching
make
-./main --gui
+./main -S ex_data/scan1.conf -D ex_data/scan2.conf
Instructions are printed to standard output.
The program itself can be built with
make
which will create an executable named main in the working directory.
diff --git a/docs/point__to__line_8d.html b/docs/kdtree_8cpp.html
similarity index 91%
rename from docs/point__to__line_8d.html
rename to docs/kdtree_8cpp.html
index 1996a09..b07c6ff 100644
--- a/docs/point__to__line_8d.html
+++ b/docs/kdtree_8cpp.html
@@ -5,7 +5,7 @@
-scan matching: src/icp/point_to_line.d File Reference
+scan matching: src/algo/kdtree.cpp File Reference
@@ -73,15 +73,15 @@
- point_to_line.d File Reference
+ kdtree.cpp File Reference
diff --git a/docs/point__to__line_8d_source.html b/docs/kdtree_8cpp_source.html
similarity index 68%
rename from docs/point__to__line_8d_source.html
rename to docs/kdtree_8cpp_source.html
index f9b4e9c..e1fa8a7 100644
--- a/docs/point__to__line_8d_source.html
+++ b/docs/kdtree_8cpp_source.html
@@ -5,7 +5,7 @@
-scan matching: src/icp/point_to_line.d Source File
+scan matching: src/algo/kdtree.cpp Source File
@@ -78,20 +78,14 @@
- point_to_line.d
+ kdtree.cpp
-Go to the documentation of this file.
-
-
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-
-
+Go to the documentation of this file.
diff --git a/docs/point__to__point_8d.html b/docs/kdtree_8d.html
similarity index 91%
rename from docs/point__to__point_8d.html
rename to docs/kdtree_8d.html
index 0d8f477..b454d80 100644
--- a/docs/point__to__point_8d.html
+++ b/docs/kdtree_8d.html
@@ -5,7 +5,7 @@
-scan matching: src/icp/point_to_point.d File Reference
+scan matching: src/algo/kdtree.d File Reference
@@ -73,15 +73,15 @@
- point_to_point.d File Reference
+ kdtree.d File Reference
diff --git a/docs/kdtree_8d_source.html b/docs/kdtree_8d_source.html
new file mode 100644
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+++ b/docs/kdtree_8d_source.html
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+scan matching: src/algo/kdtree.d Source File
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+Loading...
+Searching...
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+ kdtree.d
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+Generated by 1.10.0
+
+
+
diff --git a/docs/kdtree_8h.html b/docs/kdtree_8h.html
new file mode 100644
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--- /dev/null
+++ b/docs/kdtree_8h.html
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+scan matching: src/algo/kdtree.h File Reference
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+Loading...
+Searching...
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+ kdtree.h File Reference
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+Generated by 1.10.0
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diff --git a/docs/kdtree_8h_source.html b/docs/kdtree_8h_source.html
new file mode 100644
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--- /dev/null
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+Loading...
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+Generated by 1.10.0
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diff --git a/docs/lidar__view_8cpp_source.html b/docs/lidar__view_8cpp_source.html
index f2f8b1c..d648e28 100644
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+++ b/docs/lidar__view_8cpp_source.html
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-const std::vector< icp::Point > & get_source() constDefinition lidar_view.cpp:134
+
+
LidarView()Consructs a new lidar view visualizing ICP on a random instance.Definition lidar_view.cpp:14
-void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) overrideDefinition lidar_view.cpp:103
-
-static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:60
+void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) overrideDefinition lidar_view.cpp:107
+const std::vector< icp::Vector > & get_source() constDefinition lidar_view.cpp:142
+static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)Factory constructor for the ICP method name.Definition icp.cpp:82
-Point get_center_of_mass(const std::vector< Point > &points)Definition geo.cpp:6
+
Definition sim_config.cpp:6
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-Definition geo.h:9
-Definition geo.h:17
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diff --git a/docs/lidar__view_8d_source.html b/docs/lidar__view_8d_source.html
index 5de0a35..3de4c73 100644
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Definition sim_config.cpp:6
diff --git a/docs/lidar__view_8h_source.html b/docs/lidar__view_8h_source.html
index ea51f2b..37848fb 100644
--- a/docs/lidar__view_8h_source.html
+++ b/docs/lidar__view_8h_source.html
@@ -97,9 +97,9 @@
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Definition lidar_view.h:11
-
-const std::vector< icp::Point > & get_source() constDefinition lidar_view.cpp:134
+
+
LidarView()Consructs a new lidar view visualizing ICP on a random instance.Definition lidar_view.cpp:14
-void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) overrideDefinition lidar_view.cpp:103
-
+void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) overrideDefinition lidar_view.cpp:107
+const std::vector< icp::Vector > & get_source() constDefinition lidar_view.cpp:142
diff --git a/docs/menudata.js b/docs/menudata.js
index 79a4f72..47e3c10 100644
--- a/docs/menudata.js
+++ b/docs/menudata.js
@@ -31,6 +31,7 @@ var menudata={children:[
{text:"Class Hierarchy",url:"hierarchy.html"},
{text:"Class Members",url:"functions.html",children:[
{text:"All",url:"functions.html",children:[
+{text:"a",url:"functions.html#index_a"},
{text:"b",url:"functions.html#index_b"},
{text:"c",url:"functions.html#index_c"},
{text:"d",url:"functions.html#index_d"},
@@ -43,8 +44,6 @@ var menudata={children:[
{text:"r",url:"functions.html#index_r"},
{text:"s",url:"functions.html#index_s"},
{text:"t",url:"functions.html#index_t"},
-{text:"x",url:"functions.html#index_x"},
-{text:"y",url:"functions.html#index_y"},
{text:"~",url:"functions.html#index__7E"}]},
{text:"Functions",url:"functions_func.html"},
{text:"Variables",url:"functions_vars.html"}]}]},
diff --git a/docs/namespaceicp.html b/docs/namespaceicp.html
index 8ebfe3c..2e936e2 100644
--- a/docs/namespaceicp.html
+++ b/docs/namespaceicp.html
@@ -75,6 +75,7 @@
@@ -87,27 +88,66 @@
struct Methods struct Point struct Transform struct RBTransform Rigid-body transformation. More...
+
+Typedefs
using Vector = Eigen::Vector2d using Matrix = Eigen::Matrix2d
Functions
Point get_center_of_mass (const std::vector< Point > &points) Vector get_centroid (const std::vector< Vector > &points)
+Typedef Documentation
+
+◆ Matrix
+
+
+
+
+
+ using icp::Matrix = Eigen::Matrix2d
+
+
+
+
+
+◆ Vector
+
+
+
+
+
+ using icp::Vector = Eigen::Vector2d
+
+
+
+
Function Documentation
-
-◆ get_center_of_mass()
+
+◆ get_centroid()
- Point icp::get_center_of_mass
+ Vector icp::get_centroid
(
- const std::vector< Point > & points )
+ const std::vector< Vector > & points )
diff --git a/docs/namespacemembers.html b/docs/namespacemembers.html
index 75a662a..faa905a 100644
--- a/docs/namespacemembers.html
+++ b/docs/namespacemembers.html
@@ -75,12 +75,15 @@
Here is a list of all namespace members with links to the namespace documentation for each member:
- angle_displace : sim_config
-- get_center_of_mass() : icp
+- get_centroid() : icp
- intercept : sim_config
+- Matrix : icp
- n : sim_config
- perturbation_range : sim_config
- scale : sim_config
- slope : sim_config
+- use_light_background : sim_config
+- Vector : icp
- window_height : sim_config
- window_width : sim_config
- x_delta : sim_config
diff --git a/docs/namespacemembers_func.html b/docs/namespacemembers_func.html
index a60c749..6e766cf 100644
--- a/docs/namespacemembers_func.html
+++ b/docs/namespacemembers_func.html
@@ -74,7 +74,7 @@
Here is a list of all namespace functions with links to the namespace documentation for each function:
diff --git a/docs/namespacemembers_type.html b/docs/namespacemembers_type.html
new file mode 100644
index 0000000..07806d4
--- /dev/null
+++ b/docs/namespacemembers_type.html
@@ -0,0 +1,86 @@
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+scan matching: Namespace Members
+
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+ scan matching
+
+ ICP algorithm library
+
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+Loading...
+Searching...
+No Matches
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+
+
+Here is a list of all namespace typedefs with links to the namespace documentation for each typedef:
+
+
+
+Generated by 1.10.0
+
+
+
diff --git a/docs/namespacemembers_vars.html b/docs/namespacemembers_vars.html
index e1d6a76..172f853 100644
--- a/docs/namespacemembers_vars.html
+++ b/docs/namespacemembers_vars.html
@@ -80,6 +80,7 @@
perturbation_range : sim_config
scale : sim_config
slope : sim_config
+use_light_background : sim_config
window_height : sim_config
window_width : sim_config
x_delta : sim_config
diff --git a/docs/namespacesim__config.html b/docs/namespacesim__config.html
index 7039898..b2e12fb 100644
--- a/docs/namespacesim__config.html
+++ b/docs/namespacesim__config.html
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double x_delta = 0 bool use_light_background = false
Variable Documentation
@@ -199,6 +201,22 @@ Definition at line 14 of file sim_config.cpp.
+
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+◆ use_light_background
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+ bool sim_config::use_light_background = false
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+Definition at line 25 of file sim_config.cpp.
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index 995bc9a..5466fd8 100644
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+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
+
+
ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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index 0c9f007..50e9d71 100644
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+++ b/docs/point__to__point_8cpp.html
@@ -5,7 +5,7 @@
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+scan matching: src/icp/old/point_to_point.cpp File Reference
@@ -73,7 +73,7 @@
@@ -84,7 +84,7 @@
#include <cassert>
#include <cstdlib>
-#include "icp.h"
+#include "../icp.h"
#include "util/logger.h"
Go to the source code of this file.
diff --git a/docs/point__to__point_8cpp_source.html b/docs/point__to__point_8cpp_source.html
index 2b8e44a..0e4e1ac 100644
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@@ -5,7 +5,7 @@
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+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
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+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
+
+
+
ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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+virtual void iterate()=0Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
+
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diff --git a/docs/search/all_0.js b/docs/search/all_0.js
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index eb9fe94..df786a8 100644
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index b98ab6f..5bf9fed 100644
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index 48c01fe..7caeacd 100644
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- icp::Point Struct Referencefinal
+List of all members
+ icp::RBTransform Struct Referencefinal
+Rigid-body transformation.
+ More...
+
#include <geo.h>
Public Member Functions
Point () Point (double x, double y) RBTransform () RBTransform (Vector translation, Matrix rotation) Vector apply_to (Vector v) const
Public Attributes
double x double y Vector translation Matrix rotation
Detailed Description
-
-Definition at line 9 of file geo.h.
+Constructor & Destructor Documentation
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-◆ Point() [1/2]
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+◆ RBTransform() [1/2]
@@ -115,7 +121,7 @@
- icp::Point::Point
+ icp::RBTransform::RBTransform
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+◆ RBTransform() [2/2]
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+Member Function Documentation
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+◆ apply_to()
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+
Member Data Documentation
-
-◆ x
+
+◆ rotation
- double icp::Point::x
+ Matrix icp::RBTransform::rotation
-
-◆ y
+
+◆ translation
- double icp::Point::y
+ Vector icp::RBTransform::translation
diff --git a/docs/structicp_1_1_transform-members.html b/docs/structicp_1_1_transform-members.html
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-This is the complete list of members for icp::Transform, including all inherited members.
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- cm icp::Transform dx icp::Transform dy icp::Transform theta icp::Transform Transform() icp::Transform inline Transform(double dx, double dy, double theta) icp::Transform inline transform_x(double x, double y) const icp::Transform inline transform_y(double x, double y) const icp::Transform inline
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-Generated by 1.10.0
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diff --git a/docs/structicp_1_1_transform.html b/docs/structicp_1_1_transform.html
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- icp::Transform Struct Referencefinal
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-#include <geo.h>
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-Public Member Functions
Transform () Transform (double dx, double dy, double theta) double transform_x (double x, double y) const double transform_y (double x, double y) const
-
-Public Attributes
double dx double dy double theta currently only around CoM, need to make more complicated later
Point cm
-Detailed Description
-Constructor & Destructor Documentation
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-◆ Transform() [1/2]
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-Member Data Documentation
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-◆ cm
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The documentation for this struct was generated from the following file:
-- src/icp/geo.h
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-Generated by 1.10.0
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#include <cstdlib>
#include "icp.h"
#include "util/logger.h"
+#include <Eigen/Core>
#include <Eigen/SVD>
Go to the source code of this file.
diff --git a/docs/vanilla_8cpp_source.html b/docs/vanilla_8cpp_source.html
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-static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:47
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+ 25 https://web.archive.org/web/20220615080318/https://www.cs.technion.ac.il/~cs236329/tutorials/ICP.pdf
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+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
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+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
+
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ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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-Point get_center_of_mass(const std::vector< Point > &points)Definition geo.cpp:6
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diff --git a/docs/vanilla_8d_source.html b/docs/vanilla_8d_source.html
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+ +◆ transform
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- Transform icp::ICP::t
+ RBTransform icp::ICP::transform
diff --git a/docs/dir_156e6a4e01c93213f20015fc7847b1f4.html b/docs/dir_156e6a4e01c93213f20015fc7847b1f4.html
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@@ -81,6 +81,11 @@
+Directories | |
| old | |
Files | |||||||||
| geo.cpp | |||||||||
| icp.h | |||||||||
| point_to_line.cpp | |||||||||
| point_to_line.d | |||||||||
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| algo | |||||
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+ scan matching
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+ ICP algorithm library
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+Loading...
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+algo Directory Reference
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++Files | |
| kdtree.cpp | |
| kdtree.d | |
| kdtree.h | |
+Generated by
1.10.0
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diff --git a/docs/dir_e86b0e4603fcde4bd095119c32ac8e36.html b/docs/dir_e86b0e4603fcde4bd095119c32ac8e36.html
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++Files | |
| point_to_line.cpp | |
| point_to_point.cpp | |
+Generated by
1.10.0
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+
+
diff --git a/docs/doxygen_crawl.html b/docs/doxygen_crawl.html
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Here is a list of all files with brief descriptions:
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diff --git a/docs/functions.html b/docs/functions.html
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diff --git a/docs/geo_8cpp_source.html b/docs/geo_8cpp_source.html
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[detail level 123]
| book | |
| ▼ src | |
| ▼ icp | |
| geo.cpp | |
| geo.d | |
| geo.h | |
| icp.cpp | |
| icp.d | |
| icp.h | |
| point_to_line.cpp | |
| point_to_line.d | |
| point_to_point.cpp | |
| point_to_point.d | |
| vanilla.cpp | |
| vanilla.d | |
| ▼ sim | |
| instance.cpp | |
| instance.d | |
| instance.h | |
| lidar_view.cpp | |
| lidar_view.d | |
| lidar_view.h | |
| sim_config.cpp | |
| sim_config.d | |
| sim_config.h | |
| ▼ algo | |
| kdtree.cpp | |
| kdtree.d | |
| kdtree.h | |
| ▼ icp | |
| ▼ old | |
| point_to_line.cpp | |
| point_to_point.cpp | |
| geo.cpp | |
| geo.d | |
| geo.h | |
| icp.cpp | |
| icp.d | |
| icp.h | |
| vanilla.cpp | |
| vanilla.d | |
| ▼ sim | |
| instance.cpp | |
| instance.d | |
| instance.h | |
| lidar_view.cpp | |
| lidar_view.d | |
| lidar_view.h | |
| sim_config.cpp | |
| sim_config.d | |
| sim_config.h |
Here is a list of all class members with links to the classes they belong to:
+- a -
-
+
- a : icp::ICP +
- a_cm : icp::ICP +
- apply_to() : icp::RBTransform +
- b -
- c -
-
-
- cm : icp::Transform
- construct_instance() : LidarView -
- converge() : icp::ICP +
- converge() : icp::ICP
- cost() : icp::ICP
- current_cost : icp::ICP +
- current_transform() : icp::ICP
- d -
- dist : icp::ICP
- draw() : LidarView -
- dx : icp::Transform -
- dy : icp::Transform
- f -
- pair : icp::ICP -
- Point() : icp::Point
- previous_cost : icp::ICP
- rate : icp::ICP +
- RBTransform() : icp::RBTransform
- register_method() : icp::ICP
- registered_method_constructors : icp::Methods
- registered_method_names : icp::Methods
- registered_methods() : icp::ICP +
- rotation : icp::RBTransform
- t : icp::ICP -
- theta : icp::Transform -
- transform() : icp::ICP -
- Transform() : icp::Transform -
- transform_x() : icp::Transform -
- transform_y() : icp::Transform -
- x : icp::Point -
- y : icp::Point +
- transform : icp::ICP +
- translation : icp::RBTransform
- begin() : icp::ICP +
- apply_to() : icp::RBTransform +
- begin() : icp::ICP
- construct_instance() : LidarView -
- converge() : icp::ICP +
- converge() : icp::ICP
- cost() : icp::ICP +
- current_transform() : icp::ICP
- draw() : LidarView
- from_method() : icp::ICP -
- get_dest() : LidarView -
- get_source() : LidarView +
- get_dest() : LidarView +
- get_source() : LidarView
- ICP() : icp::ICP -
- iterate() : icp::ICP +
- iterate() : icp::ICP
- LidarView() : LidarView
- on_event() : LidarView -
- Point() : icp::Point +
- RBTransform() : icp::RBTransform
- register_method() : icp::ICP
- registered_methods() : icp::ICP -
- setup() : icp::ICP -
- transform() : icp::ICP -
- Transform() : icp::Transform -
- transform_x() : icp::Transform -
- transform_y() : icp::Transform +
- setup() : icp::ICP
- ~ICP() : icp::ICP
- ~LidarView() : LidarView
- cm : icp::Transform +
- a : icp::ICP +
- a_cm : icp::ICP +
- b : icp::ICP +
- b_cm : icp::ICP
- current_cost : icp::ICP
- dist : icp::ICP -
- dx : icp::Transform -
- dy : icp::Transform
- pair : icp::ICP
- previous_cost : icp::ICP
- rate : icp::ICP
- registered_method_constructors : icp::Methods
- registered_method_names : icp::Methods -
- t : icp::ICP -
- theta : icp::Transform -
- x : icp::Point -
- y : icp::Point +
- rotation : icp::RBTransform +
- transform : icp::ICP +
- translation : icp::RBTransform
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Here is a list of all functions with links to the classes they belong to:
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Here is a list of all variables with links to the classes they belong to:
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Functions | |
| Point | icp::get_center_of_mass (const std::vector< Point > &points) |
| Vector | icp::get_centroid (const std::vector< Vector > &points) |
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Point get_center_of_mass(const std::vector< Point > &points)
Definition geo.cpp:6
Definition geo.h:9
diff --git a/docs/geo_8d_source.html b/docs/geo_8d_source.html index 4673d5c..5195fe6 100644 --- a/docs/geo_8d_source.html +++ b/docs/geo_8d_source.html @@ -85,10 +85,392 @@
geo.d
-Go to the documentation of this file.
diff --git a/docs/geo_8h.html b/docs/geo_8h.html index d0420db..831ec2d 100644 --- a/docs/geo_8h.html +++ b/docs/geo_8h.html @@ -80,20 +80,21 @@
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diff --git a/docs/geo_8h.html b/docs/geo_8h.html index d0420db..831ec2d 100644 --- a/docs/geo_8h.html +++ b/docs/geo_8h.html @@ -80,20 +80,21 @@
geo.h File Reference
#include <vector>#include <cmath>+
#include <Eigen/Core>Go to the source code of this file.
Classes | |
| struct | icp::Point |
| struct | icp::Transform |
| struct | icp::RBTransform |
| Rigid-body transformation. More... | |
@@ -101,10 +102,17 @@
namespace | icp | | | ||
+Typedefs | |
| using | icp::Vector = Eigen::Vector2d |
| using | icp::Matrix = Eigen::Matrix2d |
Functions | |
| Point | icp::get_center_of_mass (const std::vector< Point > &points) |
| Vector | icp::get_centroid (const std::vector< Vector > &points) |
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diff --git a/docs/hierarchy.html b/docs/hierarchy.html index 619988b..2677e52 100644 --- a/docs/hierarchy.html +++ b/docs/hierarchy.html @@ -80,10 +80,9 @@
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-Point get_center_of_mass(const std::vector< Point > &points)
Definition geo.cpp:6
Definition geo.h:9
Definition geo.h:17
diff --git a/docs/hierarchy.html b/docs/hierarchy.html index 619988b..2677e52 100644 --- a/docs/hierarchy.html +++ b/docs/hierarchy.html @@ -80,10 +80,9 @@
[detail level 12]
| Cicp::ICP | Interface for iterative closest points; please read the Detailed Description for usage information |
| Cicp::Methods | |
| Cicp::Point | |
| Cicp::Transform | |
| ▼CView | |
| CLidarView | |
| Cicp::RBTransform | Rigid-body transformation |
| ▼CView | |
| CLidarView |
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-virtual void setup(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)
Definition icp.cpp:13
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:60
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:48
void converge(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, double convergence_threshold)
Perform ICP for point clouds a and b until the cost is below convergence_threshold or until no progre...
Definition icp.cpp:24
void begin(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, Transform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:16
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:47
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:82
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
void converge(double convergence_threshold)
Perform ICP for point clouds a and b provided with ICP::begin until the cost is below convergence_thr...
Definition icp.cpp:47
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:69
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:55
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:77
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:15
ICP(size_t n=0, double rate=0.01)
A new ICP instance for n-point matching and an optimization rate of rate.
Definition icp.cpp:9
virtual void iterate(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)=0
Perform one iteration of ICP for point clouds a and b.
virtual void iterate()=0
Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
Definition icp.h:111
std::vector< std::string > registered_method_names
Definition icp.h:112
std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructors
Definition icp.h:114
Definition geo.h:17
Definition icp.h:122
std::vector< std::string > registered_method_names
Definition icp.h:123
std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructors
Definition icp.h:125
diff --git a/docs/icp_8d_source.html b/docs/icp_8d_source.html index 542630b..2152471 100644 --- a/docs/icp_8d_source.html +++ b/docs/icp_8d_source.html @@ -86,14 +86,396 @@
Go to the documentation of this file.
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diff --git a/docs/icp_8h_source.html b/docs/icp_8h_source.html index d4543c3..c0841f5 100644 --- a/docs/icp_8h_source.html +++ b/docs/icp_8h_source.html @@ -102,82 +102,92 @@ - + - - - - - - - - - - - + + + + + + + + + + + - - + - - + - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + + + + + - -
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Interface for iterative closest points; please read the Detailed Description for usage information.
Definition icp.h:38
virtual void setup(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)
Definition icp.cpp:13
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:60
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:48
void converge(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, double convergence_threshold)
Perform ICP for point clouds a and b until the cost is below convergence_threshold or until no progre...
Definition icp.cpp:24
void begin(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b, Transform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:16
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:47
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:82
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
void converge(double convergence_threshold)
Perform ICP for point clouds a and b provided with ICP::begin until the cost is below convergence_thr...
Definition icp.cpp:47
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:69
virtual ~ICP()=default
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:55
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:77
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:15
ICP(size_t n=0, double rate=0.01)
A new ICP instance for n-point matching and an optimization rate of rate.
Definition icp.cpp:9
virtual void iterate(const std::vector< icp::Point > &a, const std::vector< icp::Point > &b)=0
Perform one iteration of ICP for point clouds a and b.
virtual void iterate()=0
Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
Definition icp.h:111
std::vector< std::string > registered_method_names
Definition icp.h:112
std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructors
Definition icp.h:114
Definition geo.h:17
Definition icp.h:122
std::vector< std::string > registered_method_names
Definition icp.h:123
std::vector< std::function< std::unique_ptr< ICP >(size_t n, double rate)> > registered_method_constructors
Definition icp.h:125
diff --git a/docs/index.html b/docs/index.html index 4298c06..ebf2884 100644 --- a/docs/index.html +++ b/docs/index.html @@ -128,7 +128,7 @@
Now, run
git clone https://github.com/cornellev/scan-matching.git
cd scan-matching
make
-./main --gui
+./main -S ex_data/scan1.conf -D ex_data/scan2.conf
Instructions are printed to standard output.
The program itself can be built with
make
which will create an executable named main in the working directory.
-
+
point_to_line.d File Reference
kdtree.cpp File Reference
diff --git a/docs/point__to__line_8d_source.html b/docs/kdtree_8cpp_source.html similarity index 68% rename from docs/point__to__line_8d_source.html rename to docs/kdtree_8cpp_source.html index f9b4e9c..e1fa8a7 100644 --- a/docs/point__to__line_8d_source.html +++ b/docs/kdtree_8cpp_source.html @@ -5,7 +5,7 @@ -
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+
point_to_line.d
kdtree.cpp
-Go to the documentation of this file.
diff --git a/docs/point__to__point_8d.html b/docs/kdtree_8d.html similarity index 91% rename from docs/point__to__point_8d.html rename to docs/kdtree_8d.html index 0d8f477..b454d80 100644 --- a/docs/point__to__point_8d.html +++ b/docs/kdtree_8d.html @@ -5,7 +5,7 @@ -scan matching: src/icp/point_to_point.d File Reference
+scan matching: src/algo/kdtree.d File Reference
@@ -73,15 +73,15 @@
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diff --git a/docs/point__to__point_8d.html b/docs/kdtree_8d.html similarity index 91% rename from docs/point__to__point_8d.html rename to docs/kdtree_8d.html index 0d8f477..b454d80 100644 --- a/docs/point__to__point_8d.html +++ b/docs/kdtree_8d.html @@ -5,7 +5,7 @@ -
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point_to_point.d File Reference
kdtree.d File Reference
diff --git a/docs/kdtree_8d_source.html b/docs/kdtree_8d_source.html new file mode 100644 index 0000000..cb2bcfe --- /dev/null +++ b/docs/kdtree_8d_source.html @@ -0,0 +1,95 @@ + + + + + + + +
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diff --git a/docs/lidar__view_8d_source.html b/docs/lidar__view_8d_source.html index 5de0a35..3de4c73 100644 --- a/docs/lidar__view_8d_source.html +++ b/docs/lidar__view_8d_source.html @@ -138,124 +138,506 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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const std::vector< icp::Point > & get_source() const
Definition lidar_view.cpp:134
LidarView()
Consructs a new lidar view visualizing ICP on a random instance.
Definition lidar_view.cpp:14
void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) override
Definition lidar_view.cpp:103
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:60
void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) override
Definition lidar_view.cpp:107
const std::vector< icp::Vector > & get_source() const
Definition lidar_view.cpp:142
static std::unique_ptr< ICP > from_method(std::string name, size_t n=0, double rate=0.01)
Factory constructor for the ICP method name.
Definition icp.cpp:82
Point get_center_of_mass(const std::vector< Point > &points)
Definition geo.cpp:6
Definition sim_config.cpp:6
Definition geo.h:9
Definition geo.h:17
diff --git a/docs/lidar__view_8d_source.html b/docs/lidar__view_8d_source.html index 5de0a35..3de4c73 100644 --- a/docs/lidar__view_8d_source.html +++ b/docs/lidar__view_8d_source.html @@ -138,124 +138,506 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Definition sim_config.cpp:6
-
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@@ -109,8 +109,8 @@
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@@ -120,18 +120,18 @@
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Definition lidar_view.h:11
const std::vector< icp::Point > & get_source() const
Definition lidar_view.cpp:134
LidarView()
Consructs a new lidar view visualizing ICP on a random instance.
Definition lidar_view.cpp:14
void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) override
Definition lidar_view.cpp:103
void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) override
Definition lidar_view.cpp:107
const std::vector< icp::Vector > & get_source() const
Definition lidar_view.cpp:142
+Typedefs | |
| using | Vector = Eigen::Vector2d |
| using | Matrix = Eigen::Matrix2d |
Functions | |
| Point | get_center_of_mass (const std::vector< Point > &points) |
| Vector | get_centroid (const std::vector< Vector > &points) |
Typedef Documentation
+ +◆ Matrix
+ +
+
+
+
+
+
+
+| using icp::Matrix = Eigen::Matrix2d | +
◆ Vector
+ +
+
+
+
+
+| using icp::Vector = Eigen::Vector2d | +
Function Documentation
- -◆ get_center_of_mass()
+ +◆ get_centroid()
| Point icp::get_center_of_mass | +Vector icp::get_centroid | ( | -const std::vector< Point > & | points | ) | +const std::vector< Vector > & | points | ) |
Here is a list of all namespace members with links to the namespace documentation for each member:
- angle_displace : sim_config -
- get_center_of_mass() : icp +
- get_centroid() : icp
- intercept : sim_config +
- Matrix : icp
- n : sim_config
- perturbation_range : sim_config
- scale : sim_config
- slope : sim_config +
- use_light_background : sim_config +
- Vector : icp
- window_height : sim_config
- window_width : sim_config
- x_delta : sim_config diff --git a/docs/namespacemembers_func.html b/docs/namespacemembers_func.html index a60c749..6e766cf 100644 --- a/docs/namespacemembers_func.html +++ b/docs/namespacemembers_func.html @@ -74,7 +74,7 @@
Here is a list of all namespace functions with links to the namespace documentation for each function:
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ scan matching
+
+ ICP algorithm library
+ |
+
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+
+Loading...
+Searching...
+No Matches
+
+
+
+Here is a list of all namespace typedefs with links to the namespace documentation for each typedef:
+ 1.10.0
+
+
+
diff --git a/docs/namespacemembers_vars.html b/docs/namespacemembers_vars.html
index e1d6a76..172f853 100644
--- a/docs/namespacemembers_vars.html
+++ b/docs/namespacemembers_vars.html
@@ -80,6 +80,7 @@
Variable Documentation
@@ -199,6 +201,22 @@Definition at line 14 of file sim_config.cpp. +
◆ use_light_background
+ +
+
diff --git a/docs/point__to__line_8cpp.html b/docs/point__to__line_8cpp.html
index 995bc9a..5466fd8 100644
--- a/docs/point__to__line_8cpp.html
+++ b/docs/point__to__line_8cpp.html
@@ -5,7 +5,7 @@
-
+
+
+
| bool sim_config::use_light_background = false | +
+
+
Definition at line 25 of file sim_config.cpp.
+
@@ -83,7 +83,7 @@
Go to the source code of this file.
|
- scan matching
-
- ICP algorithm library
- |
-
-
-
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-Loading...
-Searching...
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-point_to_point.d
-Generated by
1.10.0
-
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-
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index 262f4fb..3fba49b 100644
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index 997705b..3278d0f 100644
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index 851e53e..16fd74b 100644
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index eb9fe94..df786a8 100644
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index 1e56ed5..3489dac 100644
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index 6eaa239..06b075d 100644
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index 2aed90b..0fd2f6e 100644
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index cddc5ba..2aed90b 100644
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index ef26a59..71102be 100644
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index 78c25d8..b98ab6f 100644
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index 48c01fe..7caeacd 100644
--- a/docs/search/searchdata.js
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2: "is",
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- 4: "bcdfgiloprst~",
- 5: "acdinprstwxy",
- 6: "c",
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index 6b82d79..0eeb653 100644
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index 85cd874..6b82d79 100644
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index eb9fe94..f39889c 100644
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index fd4e9ed..ddf577c 100644
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Definition sim_config.cpp:6
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+This is the complete list of members for icp::RBTransform, including all inherited members.
- Point() icp::Point inline Point(double x, double y) icp::Point inline x icp::Point y icp::Point apply_to(Vector v) const icp::RBTransform inline RBTransform() icp::RBTransform inline RBTransform(Vector translation, Matrix rotation) icp::RBTransform inline rotation icp::RBTransform translation icp::RBTransform
diff --git a/docs/structicp_1_1_point.html b/docs/structicp_1_1_r_b_transform.html
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- icp::Point Struct Referencefinal
+List of all members
+ icp::RBTransform Struct Referencefinal
+Rigid-body transformation.
+ More...
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#include <geo.h>
Public Member Functions
Point () Point (double x, double y) RBTransform () RBTransform (Vector translation, Matrix rotation) Vector apply_to (Vector v) const
Public Attributes
double x double y Vector translation Matrix rotation
Detailed Description
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-Definition at line 9 of file geo.h.
+Constructor & Destructor Documentation
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-◆ Point() [1/2]
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+◆ RBTransform() [1/2]
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+ icp::RBTransform::RBTransform
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+Member Function Documentation
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Member Data Documentation
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-◆ x
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- double icp::Point::x
+ Matrix icp::RBTransform::rotation
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+◆ translation
- double icp::Point::y
+ Vector icp::RBTransform::translation
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Transform () Transform (double dx, double dy, double theta) double transform_x (double x, double y) const double transform_y (double x, double y) const
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double dx double dy double theta currently only around CoM, need to make more complicated later
Point cm
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#include <cstdlib>
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+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
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ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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diff --git a/docs/structicp_1_1_point-members.html b/docs/structicp_1_1_r_b_transform-members.html similarity index 70% rename from docs/structicp_1_1_point-members.html rename to docs/structicp_1_1_r_b_transform-members.html index 68d0475..3e139b4 100644 --- a/docs/structicp_1_1_point-members.html +++ b/docs/structicp_1_1_r_b_transform-members.html @@ -73,20 +73,21 @@
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icp::Point Member List
icp::RBTransform Member List
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This is the complete list of members for icp::Point, including all inherited members.
+This is the complete list of members for icp::RBTransform, including all inherited members.
| Point() | icp::Point | inline |
| Point(double x, double y) | icp::Point | inline |
| x | icp::Point | |
| y | icp::Point | |
| apply_to(Vector v) const | icp::RBTransform | inline |
| RBTransform() | icp::RBTransform | inline |
| RBTransform(Vector translation, Matrix rotation) | icp::RBTransform | inline |
| rotation | icp::RBTransform | |
| translation | icp::RBTransform |
diff --git a/docs/structicp_1_1_point.html b/docs/structicp_1_1_r_b_transform.html similarity index 50% rename from docs/structicp_1_1_point.html rename to docs/structicp_1_1_r_b_transform.html index eb4ddaa..7248857 100644 --- a/docs/structicp_1_1_point.html +++ b/docs/structicp_1_1_r_b_transform.html @@ -5,7 +5,7 @@ -
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+ icp::Point Struct Referencefinal
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Rigid-body transformation. + More...
+#include <geo.h>
Public Member Functions | |
| Point () | |
| Point (double x, double y) | |
| RBTransform () | |
| RBTransform (Vector translation, Matrix rotation) | |
| Vector | apply_to (Vector v) const |
Public Attributes | |
| double | x |
| double | y |
| Vector | translation |
| Matrix | rotation |
Detailed Description
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Definition at line 9 of file geo.h.
+Constructor & Destructor Documentation
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+Member Function Documentation
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Transform () Transform (double dx, double dy, double theta) double transform_x (double x, double y) const double transform_y (double x, double y) const
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Point cm
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+RBTransform transformThe current point cloud transformation that is being optimized.Definition icp.h:44
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+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
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ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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diff --git a/docs/structicp_1_1_transform-members.html b/docs/structicp_1_1_transform-members.html
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- cm icp::Transform dx icp::Transform dy icp::Transform theta icp::Transform Transform() icp::Transform inline Transform(double dx, double dy, double theta) icp::Transform inline transform_x(double x, double y) const icp::Transform inline transform_y(double x, double y) const icp::Transform inline
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Transform () Transform (double dx, double dy, double theta) double transform_x (double x, double y) const double transform_y (double x, double y) const
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double dx double dy double theta currently only around CoM, need to make more complicated later
Point cm
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#include <cstdlib>
#include "icp.h"
#include "util/logger.h"
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#include <Eigen/SVD>
Go to the source code of this file.
diff --git a/docs/vanilla_8cpp_source.html b/docs/vanilla_8cpp_source.html
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+static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)Registers a new ICP method that can be created with constructor, returning false if name has already ...Definition icp.cpp:69
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ICP(size_t n=0, double rate=0.01)A new ICP instance for n-point matching and an optimization rate of rate.Definition icp.cpp:9
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diff --git a/docs/vanilla_8d_source.html b/docs/vanilla_8d_source.html
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This is the complete list of members for icp::Transform, including all inherited members.
-| cm | icp::Transform | |
| dx | icp::Transform | |
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| Transform() | icp::Transform | inline |
| Transform(double dx, double dy, double theta) | icp::Transform | inline |
| transform_x(double x, double y) const | icp::Transform | inline |
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#include <geo.h>
-Public Member Functions | |
| Transform () | |
| Transform (double dx, double dy, double theta) | |
| double | transform_x (double x, double y) const |
| double | transform_y (double x, double y) const |
-Public Attributes | |
| double | dx |
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| currently only around CoM, need to make more complicated later | |
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Detailed Description
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static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:47
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(size_t n, double rate)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:69
ICP(size_t n=0, double rate=0.01)
A new ICP instance for n-point matching and an optimization rate of rate.
Definition icp.cpp:9
Point get_center_of_mass(const std::vector< Point > &points)
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@@ -534,6 +534,7 @@
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