icp.cpp File Reference

#include "pointmatcher/PointMatcher.h"
#include "pointmatcher/Bibliography.h"
#include "boost/filesystem.hpp"
#include <cassert>
#include <fstream>
#include <iostream>
#include <algorithm>

Include dependency graph for icp.cpp:

Go to the source code of this file.

Defines
#define	DUMP_REGISTRAR_CONTENT(pm, name, bib)   dumpRegistrar(pm, pm.REG(name), # name, bib);
Typedefs
typedef PointMatcherSupport::CurrentBibliography	CurrentBibliography
typedef PM::DataPoints	DP
typedef PM::Parameters	Parameters
typedef PointMatcher< float >	PM
Functions
template<typename R >
void	dumpRegistrar (const PM &pm, const R &registrar, const std::string &name, CurrentBibliography &bib)
void	listModules ()
int	main (int argc, const char *argv[])
PM::TransformationParameters	parseRotation (string &rotation, const int cloudDimension)
PM::TransformationParameters	parseTranslation (string &translation, const int cloudDimension)
void	usage (const char *argv[])
int	validateArgs (const int argc, const char *argv[], bool &isTransfoSaved, string &configFile, string &outputBaseFile, string &initTranslation, string &initRotation)

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Define Documentation

#define DUMP_REGISTRAR_CONTENT	(		pm,
			name,
			bib
	)		dumpRegistrar(pm, pm.REG(name), # name, bib);

Definition at line 202 of file icp.cpp.

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Typedef Documentation

typedef PointMatcherSupport::CurrentBibliography CurrentBibliography

Definition at line 51 of file icp.cpp.

typedef PM::DataPoints DP

Definition at line 49 of file icp.cpp.

typedef PM::Parameters Parameters

Definition at line 50 of file icp.cpp.

typedef PointMatcher<float> PM

Definition at line 48 of file icp.cpp.

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Function Documentation

template<typename R >

void dumpRegistrar	(	const PM &	pm,
		const R &	registrar,
		const std::string &	name,
		CurrentBibliography &	bib
	)

Definition at line 189 of file icp.cpp.

void listModules

(

)

Definition at line 205 of file icp.cpp.

int main	(	int	argc,
		const char *	argv[]
	)

Code example for ICP taking 2 points clouds (2D or 3D) relatively close and computing the transformation between them.

This code is more complete than icp_simple. It can load parameter files and has more options.

Definition at line 72 of file icp.cpp.

PM::TransformationParameters parseRotation	(	string &	rotation,
		const int	cloudDimension
	)

Definition at line 329 of file icp.cpp.

PM::TransformationParameters parseTranslation	(	string &	translation,
		const int	cloudDimension
	)

Definition at line 292 of file icp.cpp.

void usage

(

const char *

argv[]

)

Definition at line 367 of file icp.cpp.

int validateArgs	(	const int	argc,
		const char *	argv[],
		bool &	isTransfoSaved,
		string &	configFile,
		string &	outputBaseFile,
		string &	initTranslation,
		string &	initRotation
	)

Definition at line 223 of file icp.cpp.