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‎docs/class_lidar_view.html

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<p class="definition">Definition at line <a class="el" href="lidar__view_8cpp_source.html#l00028">28</a> of file <a class="el" href="lidar__view_8cpp_source.html">lidar_view.cpp</a>.</p>
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<p class="definition">Definition at line <a class="el" href="lidar__view_8cpp_source.html#l00060">60</a> of file <a class="el" href="lidar__view_8cpp_source.html">lidar_view.cpp</a>.</p>
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‎docs/classicp_1_1_i_c_p-members.html

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<p>This is the complete list of members for <a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a>, including all inherited members.</p>
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<table class="directory">
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<tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a8fa6d4d0a46ee621097c821afe7e5985">a</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a7f34fb6c33262204472719180ead46d4">a_cm</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#aa2742888e6e4f43752c1ec834a39d06e">b</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a679d20d77b2c458c4d4620f143fc72a7">b_cm</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#aa2742888e6e4f43752c1ec834a39d06e">b</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#ab5a0481925dfd8d0ba2ea9b5f4b7fb79">begin</a>(const std::vector&lt; Vector &gt; &amp;a, const std::vector&lt; Vector &gt; &amp;b, RBTransform t)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#af1935a8a37141a32d5fd377faa0187ee">calculate_cost</a>() const</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a80a0f5b00b3b9bf1403fdafec96705e6">converge</a>(size_t burn_in, double convergence_threshold)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"></td></tr>

‎docs/classicp_1_1_i_c_p.html

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<p><code>#include &lt;<a class="el" href="icp_8h_source.html">icp.h</a>&gt;</code></p>
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<p>Inherited by icp::Test1, icp::Trimmed, and icp::Vanilla.</p>
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<p>Inherited by icp::Trimmed, and icp::Vanilla.</p>
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Classes</h2></td></tr>
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<tr class="memitem:a47adf7aba7ca4afbdd308abaa4613bb1" id="r_a47adf7aba7ca4afbdd308abaa4613bb1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structicp_1_1_r_b_transform.html">RBTransform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a47adf7aba7ca4afbdd308abaa4613bb1">transform</a></td></tr>
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<tr class="memdesc:a47adf7aba7ca4afbdd308abaa4613bb1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The current point cloud transformation that is being optimized. <br /></td></tr>
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<tr class="memitem:a7f34fb6c33262204472719180ead46d4" id="r_a7f34fb6c33262204472719180ead46d4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7f34fb6c33262204472719180ead46d4">a_cm</a></td></tr>
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<tr class="memdesc:a7f34fb6c33262204472719180ead46d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The centroid of the source point cloud. <br /></td></tr>
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<tr class="separator:a7f34fb6c33262204472719180ead46d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memitem:a679d20d77b2c458c4d4620f143fc72a7" id="r_a679d20d77b2c458c4d4620f143fc72a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a679d20d77b2c458c4d4620f143fc72a7">b_cm</a></td></tr>
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<tr class="memdesc:a679d20d77b2c458c4d4620f143fc72a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">The centroid of the destination point cloud. <br /></td></tr>
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<tr class="memitem:a8fa6d4d0a46ee621097c821afe7e5985" id="r_a8fa6d4d0a46ee621097c821afe7e5985"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">Vector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8fa6d4d0a46ee621097c821afe7e5985">a</a></td></tr>
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<tr class="memdesc:a8fa6d4d0a46ee621097c821afe7e5985"><td class="mdescLeft">&#160;</td><td class="mdescRight">The source point cloud relative to its centroid. <br /></td></tr>
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<p>You should interact with <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> instances through this API only. Read <a class="el" href="write_icp_instance.html">Writing an ICP Instance</a> for additional information.</p>
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<dl class="section user"><dt>Example</dt><dd><div class="fragment"><div class="line"><span class="comment">// Construct a new vanilla ICP instance.</span></div>
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<div class="line">std::unique_ptr&lt;icp::ICP&gt; <a class="code hl_namespace" href="namespaceicp.html">icp</a> = <a class="code hl_function" href="#a4147f2e116fe41bd31f37b6e23829485">icp::ICP::from_method</a>(<span class="stringliteral">&quot;vanilla&quot;</span>);</div>
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<div class="ttc" id="aclassicp_1_1_i_c_p_html_a4147f2e116fe41bd31f37b6e23829485"><div class="ttname"><a href="#a4147f2e116fe41bd31f37b6e23829485">icp::ICP::from_method</a></div><div class="ttdeci">static std::unique_ptr&lt; ICP &gt; from_method(std::string name, const Config &amp;params=Config())</div><div class="ttdoc">Factory constructor for the ICP method name with configuration config.</div><div class="ttdef"><b>Definition</b> <a href="icp_8cpp_source.html#l00112">icp.cpp:112</a></div></div>
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<div class="ttc" id="aclassicp_1_1_i_c_p_html_a4147f2e116fe41bd31f37b6e23829485"><div class="ttname"><a href="#a4147f2e116fe41bd31f37b6e23829485">icp::ICP::from_method</a></div><div class="ttdeci">static std::unique_ptr&lt; ICP &gt; from_method(std::string name, const Config &amp;params=Config())</div><div class="ttdoc">Factory constructor for the ICP method name with configuration config.</div><div class="ttdef"><b>Definition</b> <a href="icp_8cpp_source.html#l00098">icp.cpp:98</a></div></div>
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<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>
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</div><!-- fragment --></dd></dl>
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<dl class="section user"><dt>Usage</dt><dd>Let <code>a</code> and <code>b</code> be two point clouds of type <code>std::vector&lt;Vector&gt;</code>. Then, given an <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> instance <code>icp</code> of type <code>std::unique_ptr&lt;<a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">icp::ICP</a>&gt;</code>, perform the following steps.</dd></dl>
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<p>If these steps are not followed as described here, the behavior is undefined.</p>
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<p>At any point in the process, you may query <code>icp-&gt;<a class="el" href="#af1935a8a37141a32d5fd377faa0187ee" title="Computes the cost of the current transformation.">calculate_cost()</a></code> and <code>icp-&gt;<a class="el" href="#a47adf7aba7ca4afbdd308abaa4613bb1" title="The current point cloud transformation that is being optimized.">transform()</a></code>. Do note, however, that <code>icp-&gt;<a class="el" href="#af1935a8a37141a32d5fd377faa0187ee" title="Computes the cost of the current transformation.">calculate_cost()</a></code> is not a constant-time operation. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00044">44</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00045">45</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a6ee9bfb8de098c6d7e6041626e49b05a">&#9670;&#160;</a></span>ICP()</h2>
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<p>Computes the cost of the current transformation. </p>
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<dl class="section user"><dt>Efficiency:</dt><dd><code>O(a.size())</code> where <code>a</code> is the source point cloud. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00050">50</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00038">38</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Information about the convergence. </dd></dl>
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<dl class="section pre"><dt>Precondition</dt><dd><a class="el" href="#ab5a0481925dfd8d0ba2ea9b5f4b7fb79" title="Begins the ICP process for point clouds a and b with an initial guess for the transform t.">ICP::begin</a> must have been invoked. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00046">46</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00075">75</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p>Factory constructor for the <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> method <code>name</code> with configuration <code>config</code>. </p>
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<dl class="section pre"><dt>Precondition</dt><dd><code>name</code> is a valid registered method. See <a class="el" href="#aff3398f6b1cc6651d0c085ced4cb8db1" title="Whether name is a registered ICP method.">ICP::is_registered_method</a>. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00098">98</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p>Whether <code>name</code> is a registered <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> method. </p>
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<p>Registers a new <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> method that can be created with <code>constructor</code>, returning <code>false</code> if <code>name</code> has already been registered. </p>
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<p>Returns a current list of the names of currently registered <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> methods. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00107">107</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8cpp_source.html#l00093">93</a> of file <a class="el" href="icp_8cpp_source.html">icp.cpp</a>.</p>
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<p>The source point cloud relative to its centroid. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00067">67</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7f34fb6c33262204472719180ead46d4">&#9670;&#160;</a></span>a_cm</h2>
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<td class="memname"><a class="el" href="namespaceicp.html#aba583ee22f8131f5494d90fb3a611bd5">Vector</a> icp::ICP::a_cm</td>
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<p>The centroid of the source point cloud. </p>
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<p>The destination point cloud relative to its centroid. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00070">70</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p>The centroid of the destination point cloud. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00064">64</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p>The RMS (root mean square) cost of the current transformation. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00077">77</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00071">71</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p>The pairing of each point in <code>a</code> to its closest in <code>b</code>. </p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00080">80</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00074">74</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p>Keeps track of the previous cost to ensure that progress is being made. </p>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="#a8187f14a280850840917e85240d5e222" title="The RMS (root mean square) cost of the current transformation.">ICP::current_cost</a>. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00074">74</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="icp_8h_source.html#l00068">68</a> of file <a class="el" href="icp_8h_source.html">icp.h</a>.</p>
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