step_by_step.cpp File Reference

An example showcasing the progress of the ICP pipeline. More...

#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <string>
#include <GL/glew.h>
#include <CLUtils.hpp>
#include <ocl_icp_sbs.hpp>
#include <GL/glut.h>

Include dependency graph for step_by_step.cpp:

Functions
std::vector< cl_float8 >	pc8d1 (n)
std::vector< cl_float8 >	pc8d2 (n)
void	drawGLScene ()
	Display callback for the window. More...
void	idleGLScene ()
	Idle callback for the window. More...
void	resizeGLScene (int width, int height)
	Reshape callback for the window. More...
void	keyPressed (unsigned char key, int x, int y)
	Keyboard callback for the window. More...
void	mouseMoved (int x, int y)
	Mouse callback for the window. More...
void	mouseButtonPressed (int button, int state, int x, int y)
	Mouse button callback for the window. More...
void	initGL (int argc, char **argv)
	Initializes GLUT. More...
void	printInfo ()
	Displays the available controls. More...
void	fread (const char *path, char *data, size_t n)
	Reads in a binary file. More...
void	configure (int argc, char **argv)
	Configures parameters. More...
int	main (int argc, char **argv)

Variables
const int	gl_win_width = 640
const int	gl_win_height = 480
int	glWinId
int	mouseX = -1
int	mouseY = -1
float	angleX = 0.f
float	angleY = 0.f
float	zoom = 1.f
GLuint	glPC4DBuffer
GLuint	glRGBABuffer
const cl_algo::ICP::ICPStepConfigT	RC = cl_algo::ICP::ICPStepConfigT::POWER_METHOD
const cl_algo::ICP::ICPStepConfigW	WC = cl_algo::ICP::ICPStepConfigW::WEIGHTED
ICPSBS< RC, WC > *	icp

Detailed Description

An example showcasing the progress of the ICP pipeline.

Estimates, step by step, the transformation between two point clouds and displays the result of each ICP step in the registration process.

Note

To change the configuration of the ICPStep class, alter the RC and WC variables.

Command line arguments:

<name_1>: name of the binary file for the first point cloud.

<name_2>: name of the binary file for the second point cloud.

Usage:

./bin/icp_step_by_step pcA pcB

loads the point clouds in ../data/pcA.bin and ../data/pcB.bin

./bin/icp_step_by_step pc

loads the point clouds in ../data/pc_1.bin and ../data/pc_2.bin

./bin/icp_step_by_step

loads the point clouds in ../data/kg_pc8d_1.bin and ../data/kg_pc8d_2.bin

Author

Nick Lamprianidis

Version

1.1.0

Date

2015

Copyright

The MIT License (MIT)

Copyright (c) 2015 Nick Lamprianidis

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Function Documentation

void configure	(	int	argc,
		char **	argv
	)

Configures parameters.

Parameters

[in]	argc	command line argument count
[in]	argv	command line arguments

void drawGLScene

(

)

Display callback for the window.

void fread	(	const char *	path,
		char *	data,
		size_t	n
	)

Reads in a binary file.

Parameters

[in]	path	path to the file.
[out]	data	array that receives the data.
[in]	n	number of bytes to read.

void idleGLScene

(

)

Idle callback for the window.

void initGL	(	int	argc,
		char **	argv
	)

Initializes GLUT.

void keyPressed	(	unsigned char	key,
		int	x,
		int	y
	)

Keyboard callback for the window.

int main	(	int	argc,
		char **	argv
	)

void mouseButtonPressed	(	int	button,
		int	state,
		int	x,
		int	y
	)

Mouse button callback for the window.

void mouseMoved	(	int	x,
		int	y
	)

Mouse callback for the window.

std::vector<cl_float8> pc8d1

(

n

)

std::vector<cl_float8> pc8d2

(

n

)

void printInfo

(

)

Displays the available controls.

void resizeGLScene	(	int	width,
		int	height
	)

Reshape callback for the window.

Variable Documentation

float angleX = 0.f

float angleY = 0.f

const int gl_win_height = 480

const int gl_win_width = 640

GLuint glPC4DBuffer

GLuint glRGBABuffer

int glWinId

ICPSBS<RC, WC>* icp

int mouseX = -1

int mouseY = -1

const cl_algo::ICP::ICPStepConfigT RC = cl_algo::ICP::ICPStepConfigT::POWER_METHOD

const cl_algo::ICP::ICPStepConfigW WC = cl_algo::ICP::ICPStepConfigW::WEIGHTED

float zoom = 1.f