File List

Here is a list of all files with brief descriptions:

aliasmanager.cpp
aliasmanager.h
align_sequence.cpp
anchor.h
any.hpp
api.cpp
Bibliography.cpp
Bibliography.h
binary.cpp
binary.h
BoundingBox.cpp
BoundingBox.h
brute_force_cpu.cpp	Brute force search, cpu implementation
build_map.cpp
cfgpath.h	Cross platform methods for obtaining paths to configuration files
collectionstack.h
compute_overlap.cpp
conf.py
conversion.cpp
conversion.h
convert.cpp
covariance.cpp	Covariance estimation methods for ICP results
covariance.h	Covariance estimation methods for ICP results
CovarianceSampling.cpp
CovarianceSampling.h
custom_allocator_tests.cpp
CutAtDescriptorThreshold.cpp
CutAtDescriptorThreshold.h
DataFilters.cpp
pointmatcher/DataPoints.cpp
utest/ui/DataPoints.cpp
DataPointsFilter.cpp
DataPointsFiltersImpl.h
DeprecationWarnings.h
directives.cpp
directives.h
DistanceLimit.cpp
DistanceLimit.h
dll.h
Elipsoids.cpp
Elipsoids.h
emitfromevents.cpp
emitfromevents.h
emitter.cpp
emitter.h
emittermanip.h
emitterstate.cpp
emitterstate.h
emitterutils.cpp
emitterutils.h
ErrorMinimizer.cpp
ErrorMinimizers.cpp
ErrorMinimizersImpl.h
errorTerms.cpp
errorTerms.h
estimate_points_eigen.cpp	Calculate eigenvectors and eigenvalues from a set of points
estimate_points_eigen.h	Calculate eigenvectors and eigenvalues from a set of points
eval_solution.cpp
eventhandler.h
Exceptions.cpp
exceptions.h
exp.cpp
exp.h
FilterAdjustTimestamps.cpp	Normalizes point cloud timestamps
FilterAdjustTimestamps.h	Normalizes point cloud timestamps
FilterBase.cpp	Base virtual class for point cloud filters
FilterBase.h	Base virtual class for point cloud filters
FilterBoundingBox.cpp	Builds a new layer with a decimated version of an input layer
FilterBoundingBox.h	Leaves or removes the points in a given bounding box
FilterByIntensity.cpp	Thresholds an input cloud by intensity values
FilterByIntensity.h	Thresholds an input cloud by intensity values
FilterByRange.cpp	Leaves or removes points by min/max range from the origin
FilterByRange.h	Leaves or removes points by min/max range from the origin
FilterByRing.cpp	Keeps only a given subset of an input cloud by LiDAR "ring_id"
FilterByRing.h	Keeps only a given subset of an input cloud by LiDAR "ring_id"
FilterCurvature.cpp	Classifies a sorted input point cloud by local curvature
FilterCurvature.h	Classifies a sorted input point cloud by local curvature
FilterDecimateAdaptive.cpp	An adaptive sampler of pointclouds
FilterDecimateAdaptive.h	An adaptive sampler of pointclouds
FilterDecimateVoxels.cpp	Builds a new layer with a decimated version of an input layer
FilterDecimateVoxels.h	Builds a new layer with a decimated version of an input layer
FilterDecimateVoxelsQuadratic.cpp	Builds a new layer with a decimated version of an input layer
FilterDecimateVoxelsQuadratic.h	Builds a new layer with a decimated version of an input layer
FilterDeleteLayer.cpp	Builds a new layer with a decimated version of an input layer
FilterDeleteLayer.h	Removes a given point layer
FilterDeskew.cpp	Deskew (motion compensate) a pointcloud from a moving LIDAR
FilterDeskew.h	Deskew (motion compensate) a pointcloud from a moving LIDAR
FilterEdgesPlanes.cpp	Classify pointcloud voxels into planes / "edges"
FilterEdgesPlanes.h	Classify pointcloud voxels into planes / "edges"
FilterMerge.cpp	Takes an input point cloud layer and inserts it into another one of arbitrary metric map type
FilterMerge.h	Takes an input point cloud layer and inserts it into another one of arbitrary metric map type
FilterNormalizeIntensity.cpp	Normalizes the intensity channel of a point cloud layer
FilterNormalizeIntensity.h	Normalizes the intensity channel of a point cloud layer
FilterPoleDetector.cpp	Leaves or removes points that seem to belong to vertical structures
FilterPoleDetector.h	Leaves or removes points that seem to belong to vertical structures
filterProfiler.cpp
FilterRemoveByVoxelOccupancy.cpp	Removes points from an input point cloud layer by occupancy of another input voxel layer. Can be used to remove dynamic objects
FilterRemoveByVoxelOccupancy.h	Removes points from an input point cloud layer by occupancy of another input voxel layer. Can be used to remove dynamic objects
FilterVoxelSlice.cpp	Takes an input layer of type CVoxelMap (Bonxai) and extracts one 2D slice as an occupancy gridmap
FilterVoxelSlice.h	Takes an input layer of type CVoxelMap (Bonxai) and extracts one 2D slice as an occupancy gridmap
FixStepSampling.cpp
FixStepSampling.h
Functions.h
Generator.cpp	Base virtual class for point cloud filters
Generator.h	Base virtual class for point cloud filters
GeneratorEdgesFromCurvature.cpp	Generator of edge points from organized point clouds
GeneratorEdgesFromCurvature.h	Generator of edge points from organized point clouds
GeneratorEdgesFromRangeImage.cpp	Generator of edge points from organized point clouds
GeneratorEdgesFromRangeImage.h	Generator of edge points from organized point clouds
Gestalt.cpp
Gestalt.h
GetOrCreatePointLayer.cpp
GetOrCreatePointLayer.h	Auxiliary function GetOrCreatePointLayer
graphbuilder.cpp
graphbuilderadapter.cpp
graphbuilderadapter.h
gtest-all.cc
gtest.h
gtest_main.cc
helpers.h
Histogram.cpp
Histogram.h
3rdparty/libpointmatcher/pointmatcher/ICP.cpp
mp2p_icp/src/ICP.cpp
icp.cpp
ICP.h	Generic ICP algorithm container
icp_advance_api.cpp
icp_customized.cpp
ICP_LibPointmatcher.cpp	ICP wrapper on libpointmatcher
ICP_LibPointmatcher.h	ICP wrapper on libpointmatcher
icp_pipeline_from_yaml.cpp	Loads and setup an ICP pipeline from a YAML configuration file
icp_pipeline_from_yaml.h	Loads and setup an ICP pipeline from a YAML configuration file
icp_simple.cpp
DataPointsFilters/Identity.cpp
ErrorMinimizers/Identity.cpp
DataPointsFilters/Identity.h
ErrorMinimizers/Identity.h
IncidenceAngle.cpp
IncidenceAngle.h
indentation.h
index_heap.h	Implementation of index heaps
Inspector.cpp
Inspectors.cpp
InspectorsImpl.cpp
InspectorsImpl.h
invalid_matrix_types.cpp
pointmatcher/IO.cpp
utest/ui/IO.cpp
IO.h
IOFunctions.cpp
IOFunctions.h
iterator.cpp
iterator.h
iterpriv.h
IterTermReason.h
experimental/kdtree_cpu.cpp
nabo/kdtree_cpu.cpp	Kd-tree search, cpu implementation
kdtree_opencl.cpp
kitti-batch-convert.py
kitti-run-seq.py
knnbench.cpp
knnbucketsize.cpp
knnepsilon.cpp
knnshow.cpp
knnvalidate.cpp
layer_name_t.h
list_modules.cpp
load_xyz_file.cpp	Unit tests common utilities
load_xyz_file.h	Unit tests common utilities
Logger.cpp
LoggerImpl.cpp
LoggerImpl.h
Loggers.cpp
LogRecord.cpp
LogRecord.h	A record of the inputs and outputs of an ICP run
ltnode.h
3rdparty/libpointmatcher/examples/demo_Qt/main.cpp
3rdparty/robin-map/tests/main.cpp
apps/icp-log-viewer/main.cpp	GUI tool to analize ICP log records (*.icplog files)
apps/icp-run/main.cpp
apps/kitti2mm/main.cpp	CLI tool to convert a KITTI dataset LIDAR .bin file into mp2p_icp mm
apps/mm-filter/main.cpp	CLI tool to apply filter pipelines to mm files
apps/mm-georef/main.cpp	CLI tool to manipulate geo-referencing information
apps/mm-info/main.cpp	CLI tool to read a map and describe it
apps/mm-viewer/main.cpp	GUI tool to visualize .mm (metric map) files
apps/mm2txt/main.cpp	A CLI tool to export the layers of a metric map (*.mm) as CSV/TXT
apps/rawlog-filter/main.cpp	CLI tool to apply filter pipelines to datasets in rawlog files
apps/sm2mm/main.cpp	CLI tool to parse a SimpleMap (from SLAM) to metric maps (mm) via a configurable pipeline
apps/txt2mm/main.cpp	CLI tool to convert pointclouds from CSV/TXT files to mp2p_icp mm
mark.h
3rdparty/libpointmatcher/pointmatcher/Matcher.cpp
3rdparty/libpointmatcher/utest/ui/Matcher.cpp
mp2p_icp/src/Matcher.cpp	Pointcloud matching generic base class
Matcher.h	Pointcloud matching generic base class
Matcher_Adaptive.cpp	Pointcloud matcher: smart adaptive matcher
Matcher_Adaptive.h	Pointcloud matcher: smart adaptive matcher
Matcher_Planes_Normals.cpp	Pointcloud matcher: similar planes
Matcher_Point2Line.cpp	Pointcloud matcher: point to line-fit of nearby points
Matcher_Point2Line.h	Pointcloud matcher: point to line-fit of nearby points
Matcher_Point2Plane.cpp	Pointcloud matcher: point to plane-fit of nearby points
Matcher_Point2Plane.h	Pointcloud matcher: point to plane-fit of nearby points
Matcher_Points_Base.cpp	Pointcloud matcher auxiliary class for iterating over point layers
Matcher_Points_Base.h	Pointcloud matcher auxiliary class for iterating over point layers
Matcher_Points_DistanceThreshold.cpp	Pointcloud matcher: fixed distance thresholds
Matcher_Points_DistanceThreshold.h	Pointcloud matcher: fixed distance thresholds
Matcher_Points_InlierRatio.cpp	Pointcloud matcher: fixed ratio of inliers/outliers by distance
Matcher_Points_InlierRatio.h	Pointcloud matcher: fixed ratio of inliers/outliers by distance
MatchersImpl.cpp
MatchersImpl.h
Matches.cpp
MaxDensity.cpp
MaxDensity.h
MaxDist.cpp
MaxDist.h
MaxPointCount.cpp
MaxPointCount.h
MaxQuantileOnAxis.cpp
MaxQuantileOnAxis.h
metricmap.cpp
metricmap.h	Generic representation of pointcloud(s) and/or extracted features
MinDist.cpp
MinDist.h
nabo/nabo.cpp	Implementation of public interface
python/nabo.cpp
nabo.h	Public interface
nabo_experimental.h
nabo_private.h	Header for implementation
NearestPlaneCapable.cpp
NearestPlaneCapable.h	Defines a virtual interface for maps capable of finding pt-plane pairings
node.cpp
node.h
nodebuilder.cpp
nodebuilder.h
nodeimpl.h
nodeownership.cpp
nodeownership.h
nodereadimpl.h
nodeutil.h
noncopyable.h
NormalSpace.cpp
NormalSpace.h
null.cpp
null.h
ObservationDirection.cpp
ObservationDirection.h
octree.h
octree.hpp
OctreeGrid.cpp
OctreeGrid.h
optimal_tf_gauss_newton.cpp	Simple non-linear optimizer to find the SE(3) optimal transformation
optimal_tf_gauss_newton.h	Simple non-linear optimizer to find the SE(3) optimal transformation
optimal_tf_horn.cpp	Classic Horn's solution for optimal SE(3) transformation
optimal_tf_horn.h	Classic Horn's solution for optimal SE(3) transformation
optimal_tf_olae.cpp	OLAE algorithm to find the SE(3) optimal transformation
optimal_tf_olae.h	OLAE algorithm to find the SE(3) optimal transformation
OptimalTF_Result.h	Common types for all SE(3) optimal transformation methods
OrientNormals.cpp
OrientNormals.h
ostream.cpp
ostream.h
OutlierFilter.cpp
OutlierFiltersImpl.cpp
OutlierFiltersImpl.h
Outliers.cpp
Pairings.cpp	Common types for all SE(3) optimal transformation methods
Pairings.h	Common types for all SE(3) optimal transformation methods
PairWeights.cpp	Common types for all SE(3) optimal transformation methods
PairWeights.h	Common types for all SE(3) optimal transformation methods
Parameterizable.cpp
Parameterizable.h
Parameters.cpp
Parameters.h
Parametrizable.cpp
Parametrizable.h
parse.cpp
parser.cpp
parser.h
plane_patch.h	Defines plane_patch_t
point_plane_pair_t.h	Defines point_plane_pair_t
pointcloud_bitfield.h	A bit field with a bool for each metric_map_t entity
pointcloud_sanity_check.cpp	Checks for consistent length of field vectors
pointcloud_sanity_check.h	Checks for consistent length of field vectors
PointCloudToVoxelGrid.cpp	Makes an index of a point cloud using a voxel grid
PointCloudToVoxelGrid.h	Makes an index of a point cloud using a voxel grid
PointCloudToVoxelGridSingle.cpp	Makes an index of a point cloud using a voxel grid
PointCloudToVoxelGridSingle.h	Makes an index of a point cloud using a voxel grid
PointMatcher.h	Public interface
PointMatcherPrivate.h
PointToPlane.cpp
PointToPlane.h
PointToPlaneWithCov.cpp
PointToPlaneWithCov.h
PointToPoint.cpp
PointToPoint.h
PointToPointSimilarity.cpp
PointToPointSimilarity.h
PointToPointWithCov.cpp
PointToPointWithCov.h
policy_tests.cpp
pt2ln_pl_to_pt2pt.cpp	Converter of pairings
pt2ln_pl_to_pt2pt.h	Converter of pairings
ptr_stack.h
ptr_vector.h
QualityEvaluator.cpp	Matching quality evaluator (virtual base class)
QualityEvaluator.h	Matching quality evaluator (virtual base class)
QualityEvaluator_PairedRatio.cpp	Matching quality evaluator (virtual base class)
QualityEvaluator_PairedRatio.h	Matching quality evaluator: simple ratio [0,1] of paired entities
QualityEvaluator_RangeImageSimilarity.cpp	Matching quality evaluator from paper [Bogoslavskyi,IROS2017]
QualityEvaluator_RangeImageSimilarity.h	Matching quality evaluator from paper [Bogoslavskyi,IROS2017]
QualityEvaluator_Voxels.cpp	Matching quality evaluator: comparison via voxel occupancy
QualityEvaluator_Voxels.h	Matching quality evaluator: comparison via voxel occupancy
RandomSampling.cpp
RandomSampling.h
regex.cpp
regex.h
regeximpl.h
src/register.cpp	RTTI registry
filters/src/register.cpp	RTTI registry
map/src/register.cpp	RTTI registry
Registrar.cpp
Registrar.h
Registry.cpp
RemoveNaN.cpp
RemoveNaN.h
RemoveSensorBias.cpp
RemoveSensorBias.h
render_params.h	Render parameters for the different geometric entities
Results.cpp
Results.h
robin_growth_policy.h
robin_hash.h
robin_map.h
robin_map_tests.cpp
robin_set.h
robin_set_tests.cpp
robust_kernels.h	Robust kernel types and functions, for common use in all solvers
SamplingSurfaceNormal.cpp
SamplingSurfaceNormal.h
scanner.cpp
scanner.h
scanscalar.cpp
scanscalar.h
scantag.cpp
scantag.h
scantoken.cpp
setting.h
Shadow.cpp
Shadow.h
simplekey.cpp
SimpleSensorNoise.cpp
SimpleSensorNoise.h
singledocparser.cpp
singledocparser.h
sm-cli-cut.cpp
sm-cli-export-kfs.cpp
sm-cli-export-rawlog.cpp
sm-cli-info.cpp
sm-cli-join.cpp
sm-cli-level.cpp
sm-cli-main.cpp	CLI tool to edit, visualize, and get stats from simplemap files
sm-cli-tf.cpp
sm-cli-trim.cpp
sm-cli.h
sm2mm.cpp	Simplemap-to-metricmap utility function
sm2mm.h	Simplemap-to-metricmap utility function
Solver.cpp	Virtual base class for optimal alignment solvers (one step in ICP)
Solver.h	Virtual base class for optimal alignment solvers (one step in ICP)
Solver_GaussNewton.cpp	ICP registration for points and planes
Solver_GaussNewton.h	ICP registration for points and planes
Solver_Horn.cpp	ICP registration for pointclouds split in different "layers"
Solver_Horn.h	ICP solver for pointclouds split in different "layers"
Solver_OLAE.cpp	ICP registration for points and planes
Solver_OLAE.h	ICP registration for points and planes
stlemitter.h
stlnode.h
stream.cpp
stream.h
streamcharsource.h
stringsource.h
SurfaceNormal.cpp
SurfaceNormal.h
tag.cpp
tag.h
test-mp2p_error_terms_jacobians.cpp	Unit tests for Jacobians of error terms
test-mp2p_georef_yaml.cpp	Unit tests for georeference <-> yaml conversion
test-mp2p_icp_algos.cpp
test-mp2p_matcher_pt2pl.cpp
test-mp2p_matcher_pt2pt.cpp
test-mp2p_matcher_pt2pt_parameterizable.cpp	Unit tests for matcher with Parameterizable dynamic parameters
test-mp2p_optimal_tf_algos.cpp
test-mp2p_optimize_pt2ln.cpp
test-mp2p_optimize_pt2pl.cpp	Unit tests for point-to-plane optimization
test-mp2p_optimize_with_prior.cpp	Unit tests for point-to-point optimization with a prior belief
test-mp2p_quality_reproject_ranges.cpp	Unit tests for quality evaluator
test-mp2p_quality_voxels.cpp	Unit tests for quality evaluator
test.py
Timer.cpp
Timer.h
token.h
traits.h
Transformation.cpp
TransformationChecker.cpp
TransformationCheckersImpl.cpp
TransformationCheckersImpl.h
Transformations.cpp
TransformationsImpl.cpp
TransformationsImpl.h
trivial.cpp
usage.cpp
utest.cpp
utest.h
libpointmatcher/pointmatcher/DataPointsFilters/utils/utils.h
robin-map/tests/utils.h
visit_correspondences.h	Template that applies lambdas to unified vector forms of pairings
VoxelGrid.cpp
VoxelGrid.h
WeightParameters.cpp	Common types for all SE(3) optimal transformation methods
WeightParameters.h	Common types for all SE(3) optimal transformation methods
yaml.h