LibPointMatcher

https://docs.ros.org/en/noetic/api/libpointmatcher/html/
Admin
LibPointMatcher is a modular C++ library for point cloud registration and alignment using the...
Tokens:1,244,478
Snippets:11,001
Trust Score:9.5
Update:5 months ago
Show doc for...
Tokens:
Raw
### Test Environment Setup Start

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Logs the start of the global test environment setup. This is typically called once before any tests begin execution.

```cpp
void PrettyUnitTestResultPrinter::OnEnvironmentsSetUpStart(
    const UnitTest& /*unit_test*/) {
  ColoredPrintf(COLOR_GREEN, "[----------] ");
  printf("Global test environment set-up.\n");
  fflush(stdout);
}
```

--------------------------------

### OnEnvironmentsSetUpStart

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_func_o.html

Callback function executed at the start of environment setup.

```APIDOC
## OnEnvironmentsSetUpStart()

### Description
This function is called before the test environment setup begins.

### Method
Callback

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
#### Success Response
- **testing::EmptyTestEventListener, testing::internal::PrettyUnitTestResultPrinter, testing::internal::TestEventRepeater, testing::TestEventListener**: Returns various listener and printer types.
```

--------------------------------

### Setup()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1Test.html

A method named Setup, likely a typo for SetUp.

```APIDOC
## ◆ Setup()
| virtual Setup_should_be_spelled_SetUp* testing::Test::Setup  | ( | | ) |   
---|---|---|---|---
inlineprivatevirtual
Definition at line 17864 of file gtest.h.
```

--------------------------------

### Setup Function Call

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/setup_8py_source.html

Configures the package setup using setuptools. It specifies the packages to include, data files, version, and the custom distribution class.

```python
setup(packages=find_packages(include=["pypointmatcher*"]),
      package_data={"": ["*.so"]},
      version=version,
      distclass=BinaryDistribution
)
```

--------------------------------

### Transformation Checker Setup

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/Transformations_8cpp_source.html

The SetUp method for the TransformationCheckerTest fixture. This is where test-specific resources and configurations are initialized before each test.

```cpp
virtual void SetUp()
```

--------------------------------

### Main function for ICP example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/icp__simple_8cpp.html

This is the main entry point for the ICP simple example. It sets up and runs the ICP algorithm to compute the transformation between two point clouds. It requires command-line arguments for input files.

```cpp
#include "pointmatcher/PointMatcher.h"
#include <cassert>
#include <iostream>
```

--------------------------------

### icp_simple.py Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d050070cc3e4bbd91d897ff8856046e0.html

This script provides a simple and straightforward example of using the ICP algorithm for point cloud alignment.

```python
from libpointmatcher.icp_simple import icp_simple

aligned_point_cloud = icp_simple(point_cloud1, point_cloud2)
```

--------------------------------

### version

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacemembers_vars_v.html

Represents the setup version of the library.

```APIDOC
## Variable: version

### Description
This variable holds the setup version information for the libpointmatcher library.

### Type
setup
```

--------------------------------

### SetUp

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classOutlierFilterTest.html

Sets up the test environment for OutlierFilterTest.

```APIDOC
## SetUp()

### Description
Sets up the test environment for OutlierFilterTest. This method is called before each test.

### Method
virtual void

### Response
#### Success Response (void)
This method does not return a value.
```

--------------------------------

### Google Test Fixture Setup Method

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Provides a hook for setting up the test fixture before each test is run. Sub-classes can override this method to perform custom setup logic.

```cpp
void Test::SetUp() {
}
```

--------------------------------

### RunSetUpTestCase()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1TestCase.html

Runs the setup function for the test case.

```APIDOC
## RunSetUpTestCase()

### Description
Runs the setup function for the test case.
```

--------------------------------

### file

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacemembers_f.html

Variable 'file' in the setup namespace.

```APIDOC
## file

### Description
Variable 'file' in namespace setup.

### Namespace
setup
```

--------------------------------

### icp.py Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d050070cc3e4bbd91d897ff8856046e0.html

This script provides a basic example of using the Iterative Closest Point (ICP) algorithm for point cloud registration.

```python
from libpointmatcher.icp import icp

aligned_point_cloud = icp(point_cloud1, point_cloud2, parameters)
```

--------------------------------

### Setup Test Case in Testing::Test

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classTransformationCheckerTest.html

Static method to set up the entire test case before any test functions are run. This is typically used for class-level setup.

```cpp
static void SetUpTestCase ()
```

--------------------------------

### SetUp()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classDataFilterTest.html

Sets up the test environment before each test case. Reimplemented from testing::Test.

```APIDOC
## SetUp()

### Description
Sets up the test environment before each test case. This method is reimplemented from the testing::Test base class.

### Method Signature
virtual void DataFilterTest::SetUp()
```

--------------------------------

### Get Descriptor Starting Row

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/pointmatcher_2DataPoints_8cpp_source.html

Retrieves the starting row index for a descriptor by its name. Useful for understanding data layout.

```cpp
unsigned PointMatcher<T>::DataPoints::getDescriptorStartingRow(const std::string& name) const
{
  return getFieldStartingRow(name, descriptorLabels);
}
```

--------------------------------

### setupOptions

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/eval__solution_8cpp.html

Sets up command-line options description for the program.

```APIDOC
## setupOptions()

### Description
Sets up command-line options description for the program.

### Parameters
- **_name_** (const string &) - The name to be used for the options description.

### Return Value
po::options_description - The configured options description object.
```

--------------------------------

### Get Feature Starting Row

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/pointmatcher_2DataPoints_8cpp_source.html

Returns the starting row index for a given feature. This can be helpful for understanding the internal layout of features.

```cpp
template<typename T>
unsigned PointMatcher<T>::DataPoints::getFeatureStartingRow(const std::string& name) const
{
return getFieldStartingRow(name, featureLabels);
}
```

--------------------------------

### SetUp()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1Test.html

Sets up the test fixture. Protected virtual method, reimplemented in derived classes.

```APIDOC
## ◆ SetUp()
| void testing::Test::SetUp  | ( | | ) |   
---|---|---|---|---
protectedvirtual
Reimplemented in IOLoadSaveTest, GenericTest, TransformationCheckerTest, DataFilterTest, MatcherTest, OutlierFilterTest, and ErrorMinimizerTest.
Definition at line 3387 of file gtest-all.cc.
```

--------------------------------

### getFieldStartingRow()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_func_g.html

Gets the starting row index for a field in DataPoints.

```APIDOC
## getFieldStartingRow()

### Description
Returns the starting row index for a specified field within the DataPoints structure.

### Signature
`int getFieldStartingRow(const std::string& fieldName) const`
```

--------------------------------

### Csetup.BinaryDistribution

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/hierarchy.html

Represents a binary distribution setup.

```APIDOC
## Csetup.BinaryDistribution

### Description
Configuration for binary distribution.
```

--------------------------------

### getFeatureStartingRow()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_func_g.html

Gets the starting row index for feature data.

```APIDOC
## getFeatureStartingRow()

### Description
Returns the starting row index for the feature data within the DataPoints structure.

### Signature
`int getFeatureStartingRow() const`
```

--------------------------------

### SetUpEnvironment

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc.html

Sets up the testing environment.

```APIDOC
## testing::internal::SetUpEnvironment

### Description
Initializes the testing environment.

### Parameters
- `env` (Environment*) - A pointer to the environment object to set up.
```

--------------------------------

### getDescriptorStartingRow()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_func_g.html

Gets the starting row index for descriptor data.

```APIDOC
## getDescriptorStartingRow()

### Description
Returns the starting row index for the descriptor data within the DataPoints structure.

### Signature
`int getDescriptorStartingRow() const`
```

--------------------------------

### Main Application Entry Point

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/main_8cpp_source.html

Sets up a Qt application and displays the LAUPointMatcherWidget. This is the main entry point for the application.

```cpp
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
LAUPointMatcherWidget w;
w.show();

return a.exec();
}

```

--------------------------------

### Get Field Starting Row

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/pointmatcher_2DataPoints_8cpp_source.html

Calculates and returns the starting row index for a given field within the DataPoints matrix based on the labels.

```cpp
template<typename T>
unsigned PointMatcher<T>::DataPoints::getFieldStartingRow(const std::string& name, const Labels& labels) const
{
unsigned row(0);
for(BOOST_AUTO(it, labels.begin()); it != labels.end(); ++it)
{
if (it->text == name)
return row;
row += it->span;
}
return 0;
}
```

--------------------------------

### Get Time Field Starting Row

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/pointmatcher_2DataPoints_8cpp_source.html

Retrieves the starting row index for a time field by its name. Useful for understanding time data layout.

```cpp
unsigned PointMatcher<T>::DataPoints::getTimeStartingRow(const std::string& name) const
{
  return getFieldStartingRow(name, timeLabels);
}
```

--------------------------------

### SetUpTestCase()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1Test.html

Sets up the test case. Static method.

```APIDOC
## ◆ SetUpTestCase()
| static void testing::Test::SetUpTestCase  | ( | | ) |   
---|---|---|---|---
inlinestatic
Definition at line 17778 of file gtest.h.
```

--------------------------------

### List Modules Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d28a4824dc47e487b107a5db32ef43c4.html

Demonstrates how to list available modules in libpointmatcher.

```cpp
#include <pointmatcher/PointMatcher.h>

int main(int argc, char **argv)
{
  // Get a list of available modules
  auto modules = PointMatcherSupport::getModules();

  // Print the module names
  for (const auto& module : modules)
  {
    std::cout << "Module: " << module << std::endl;
  }

  return 0;
}
```

--------------------------------

### getTimeStartingRow

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_func_g.html

Gets the starting row index for time data in DataPoints.

```APIDOC
## getTimeStartingRow()

### Description
Retrieves the starting row index for the time data within the `DataPoints` object.

### Signature
`int getTimeStartingRow() const`

### Returns
An integer representing the starting row index of the time data.
```

--------------------------------

### Build Map Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d28a4824dc47e487b107a5db32ef43c4.html

Shows how to build a 3D map from a sequence of point clouds.

```cpp
#include <pointmatcher/PointMatcher.h>

int main(int argc, char **argv)
{
  // Create a new PointMatcher
  PointMatcher<float> matcher;

  // Load a sequence of point clouds
  auto sequence = matcher.loadSequence("path/to/sequence.m3d");

  // Build a map from the sequence
  auto map = matcher.buildMap(sequence);

  // Save the map
  matcher.saveMap(map, "path/to/map.vtk");

  return 0;
}
```

--------------------------------

### Related Functions starting with 'a'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_rela.html

Details functions related to test environment setup and addition.

```APIDOC
## a AddGlobalTestEnvironment

### Description
Adds a global test environment to the testing framework.

### Related Functions
- AddGlobalTestEnvironment : testing::UnitTest
```

--------------------------------

### OnEnvironmentsSetUpStart

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1EmptyTestEventListener.html

Called at the beginning of the environment set up phase for all tests.

```APIDOC
## OnEnvironmentsSetUpStart()

### Description
This method is called before any test environments are set up.

### Method
`virtual void OnEnvironmentsSetUpStart(const UnitTest &)`

### Parameters
* **`const UnitTest &`**: A reference to the UnitTest object.

### Remarks
Implements testing::TestEventListener.
```

--------------------------------

### Get Google Test Environments

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Returns a reference to the vector of environments that require setup and teardown before and after test execution.

```cpp
std::vector<Environment*>& environments() { return environments_; }
```

--------------------------------

### OnEnvironmentsSetUpEnd

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1internal_1_1XmlUnitTestResultPrinter.html

Called after the environment setup for tests is completed.

```APIDOC
## OnEnvironmentsSetUpEnd

### Description
This method is called after the setup phase for the test environments has concluded.

### Method
virtual void

### Parameters
#### Path Parameters
- **unit_test** (const UnitTest &) - Required - The `UnitTest` object associated with the environment setup.
```

--------------------------------

### Get Random Seed

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Returns the random seed used at the start of the current test run. This is a const method of the UnitTest class.

```C++
// Returns the random seed used at the start of the current test run.
int UnitTest::random_seed() const { return impl_->random_seed(); }
```

--------------------------------

### OnEnvironmentsSetUpStart

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1EmptyTestEventListener.html

Called before any environments are set up. Override this method to perform actions before the setup phase begins.

```APIDOC
## OnEnvironmentsSetUpStart()

### Description
Called before any environments are set up. Override this method to perform actions before the setup phase begins.

### Method
`virtual void`

### Signature
`OnEnvironmentsSetUpStart(const UnitTest &)`

### Inheritance
Implements `testing::TestEventListener`.
```

--------------------------------

### Get Start Timestamp - C++

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Retrieves the timestamp indicating when the test program began execution, measured in milliseconds since the Unix epoch.

```cpp
internal::TimeInMillis UnitTest::start_timestamp() const {
  return impl()->start_timestamp();
}
```

--------------------------------

### SetUp

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classIOLoadSaveTest.html

Sets up the test environment before each test case. This typically involves initializing necessary data structures.

```APIDOC
## SetUp

### Description
Virtual function called before each test case to set up the test environment.

### Signature
```cpp
virtual void SetUp()
```
```

--------------------------------

### Get Elapsed Time - C++

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Returns the total elapsed time of the test execution, measured in milliseconds. This reflects the duration from start to the current point.

```cpp
internal::TimeInMillis UnitTest::elapsed_time() const {
  return impl()->elapsed_time();
}
```

--------------------------------

### SetUp

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classErrorMinimizerTest.html

Virtual function to set up the test environment before each test case. Inherited from testing::Test.

```APIDOC
## SetUp()

### Description
Virtual function to set up the test environment before each test case.

### Signature
virtual void SetUp()

### Inheritance
Inherited from testing::Test.
```

--------------------------------

### main()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/main_8cpp.html

The main function is the entry point of the C++ application. It initializes the Qt application and sets up the main widget.

```APIDOC
## main()

### Description

The main function is the entry point of the C++ application. It initializes the Qt application and sets up the main widget.

### Signature

```cpp
int main(int _argc_, char *_argv_[])
```

### Parameters

- **_argc_** (int) - The number of command-line arguments.
- **_argv_[]** (char *) - An array of strings representing the command-line arguments.

### Return Value

- (int) - The exit status of the application.
```

--------------------------------

### get(const std::string &paramName)

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/structOctreeGridDataPointsFilter-members.html

Gets the value of a parameter.

```APIDOC
## get(const std::string &paramName)

### Description
Gets the value of a parameter.

### Method
inline

### Endpoint
PointMatcherSupport::Parametrizable
```

--------------------------------

### setupArgs

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/build__map_8cpp.html

Sets up command-line arguments for the build_map process, including start ID, end ID, and file extension.

```APIDOC
## ◆ setupArgs()
void setupArgs  | ( | int  | _argc_ ,   
---|---|---|---  
|  | char *  | _argv_[],   
|  | unsigned int & | _startId_ ,   
|  | unsigned int & | _endId_ ,   
|  | string & | _extension_  
| ) | |   
```

--------------------------------

### Set Starting Index for I

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacecompute__overlap.html

Sets the starting index for the outer loop or iteration related to 'I'.

```python
compute_overlap.starting_I = 0
```

--------------------------------

### setupArgs()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/compute__overlap_8cpp.html

A helper function to parse and set up command-line arguments for the program, likely to configure parameters like start ID, end ID, and file extension.

```APIDOC
## ◆ setupArgs()
void setupArgs  | ( | int  | _argc_ ,   
---|---|---|---
|  | char *  | _argv_[],   
|  | unsigned int & | _startId_ ,   
|  | unsigned int & | _endId_ ,   
|  | string & | _extension_  
| )

### Description
Parses command-line arguments to configure the program's behavior. It extracts parameters such as the starting and ending IDs for processing and the file extension for input/output.

### Parameters
- **_argc_** (int) - The number of command-line arguments.
- **_argv_[]** (char *) - An array of strings representing the command-line arguments.
- **_startId_** (unsigned int &) - A reference to an unsigned integer that will store the starting ID.
- **_endId_** (unsigned int &) - A reference to an unsigned integer that will store the ending ID.
- **_extension_** (string &) - A reference to a string that will store the file extension.
```

--------------------------------

### Initialize Bibliography with Mode

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/Bibliography_8cpp_source.html

Constructor for the CurrentBibliography class, setting the output mode.

```cpp
CurrentBibliography::CurrentBibliography(Mode mode):
mode(mode)
{}
```

--------------------------------

### ICP Simple Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d28a4824dc47e487b107a5db32ef43c4.html

A basic example demonstrating the Iterative Closest Point (ICP) algorithm.

```cpp
#include <pointmatcher/PointMatcher.h>

int main(int argc, char **argv)
{
  // Create a new PointMatcher
  PointMatcher<float> matcher;

  // Load two point clouds
  auto cloud1 = matcher.load("path/to/cloud1.vtk");
  auto cloud2 = matcher.load("path/to/cloud2.vtk");

  // Perform ICP
  auto transformation = matcher.icp(cloud1, cloud2);

  // Print the transformation
  std::cout << "Transformation: " << transformation << std::endl;

  return 0;
}
```

--------------------------------

### Related Functions starting with ':'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_rela.html

Lists related functions that start with a colon, showing their association with testing utilities.

```APIDOC
## : :testing::UnitTest

### Description
Provides a reference to the testing::UnitTest class.

### Related Functions
- ::testing::UnitTest : testing::internal::UnitTestImpl
```

--------------------------------

### main()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/globals_func.html

The entry point of the program.

```APIDOC
## main()

### Description
The primary entry point for the application. This function is found in various executable files and test suites.

### Method
Not applicable (function call)

### Endpoint
Not applicable (function call)

### Parameters
Typically `int argc, char **argv` for command-line arguments, though not explicitly detailed here.

### Request Example
```cpp
int main(int argc, char **argv) {
  // Program logic
  return 0;
}
```

### Response
Returns an integer status code (typically 0 for success).
```

--------------------------------

### Namespace Members - Functions starting with 'c'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_type_c.html

This section lists functions within the namespaces that start with the letter 'c'.

```APIDOC
## Namespace Members - Functions starting with 'c'

This section lists functions within the namespaces that start with the letter 'c'.

### const_iterator

* **Description**: Represents a constant iterator for `PointMatcher< T >::DataPoints::Labels`.
* **Type**: `PointMatcher< T >::DataPoints::Labels::const_iterator`

### ContainerType

* **Description**: Alias for `testing::internal::ValuesInIteratorRangeGenerator< T >`.
* **Type**: `testing::internal::ValuesInIteratorRangeGenerator< T >`

### CovarianceSamplingDataPointsFilter

* **Description**: A data points filter for covariance sampling, derived from `DataPointsFiltersImpl< T >`.
* **Type**: `DataPointsFiltersImpl< T >`

### CutAtDescriptorThresholdDataPointsFilter

* **Description**: A data points filter for cutting at a descriptor threshold, derived from `DataPointsFiltersImpl< T >`.
* **Type**: `DataPointsFiltersImpl< T >`
```

--------------------------------

### setupOptions

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/globals_s.html

Configures the options for evaluation. This function is defined in eval_solution.cpp.

```APIDOC
## setupOptions()

### Description
Configures the options for evaluation.

### Source File
eval_solution.cpp
```

--------------------------------

### Initialize PointMatcher and Load Data

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/compute__overlap_8cpp_source.html

Sets up the PointMatcher library, loads point cloud data from a list of files, and prepares for transformation processing. Requires ground truth transformation matrices.

```cpp
PMIO::FileInfoVector list(argv[1]);
bool debugMode = false;
if (argc == 4)
debugMode = true;

if(debugMode)
setLogger(PM::get().LoggerRegistrar.create("FileLogger"));

// Prepare transformation chain for maps
std::shared_ptr<PM::Transformation> rigidTransform;
rigidTransform = PM::get().TransformationRegistrar.create("RigidTransformation");

PM::Transformations transformations;
transformations.push_back(rigidTransform);

DP reading, reference;
TP Tread = TP::Identity(4,4);
DP mapCloud;
TP Tref = TP::Identity(4,4);

unsigned startingI = 0;
unsigned listSizeI = list.size();
unsigned listSizeJ = list.size();
if(debugMode)
{
startingI = boost::lexical_cast<unsigned>(argv[2]);
listSizeI = startingI + 1;
}

PM::Matrix overlapResults = PM::Matrix::Ones(listSizeJ, listSizeI);

for(unsigned i = startingI; i < listSizeI; i++)
{
unsigned startingJ = i+1;
if(debugMode)
{
startingJ = boost::lexical_cast<unsigned>(argv[3]);
listSizeJ = startingJ + 1;
}
for(unsigned j = startingJ; j < listSizeJ; j++)
{
// Load point clouds
reading = DP::load(list[i].readingFileName);
reference = DP::load(list[j].readingFileName);

cout << "Point cloud loaded" << endl;

// Load transformation matrices
if(list[i].groundTruthTransformation.rows() != 0)
{
Tread = list[i].groundTruthTransformation;
Tref = list[j].groundTruthTransformation;
}
else
{
cout << "ERROR: fields gTXX (i.e., ground truth matrix) is required" << endl;
abort();
}

// Move point cloud in global frame
transformations.apply(reading, Tread);
transformations.apply(reference, Tref);

```

--------------------------------

### Get Registrar Macro

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/Registrar_8h.html

Use this macro to get a reference to a previously defined registrar. It simplifies accessing the registrar instance.

```cpp
#define REG(name) name##Registrar
```

--------------------------------

### Begin() Method

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1internal_1_1RangeGenerator.html

Returns a pointer to the beginning of the parameter range. Implements testing::internal::ParamGeneratorInterface< T >.

```APIDOC
## ◆ Begin()
template<typename T , typename IncrementT >
| virtual ParamIteratorInterface<T>* testing::internal::RangeGenerator< T, IncrementT >::Begin  | ( | | ) |  const  
---|---|---|---|---
inlinevirtual  
Implements testing::internal::ParamGeneratorInterface< T >.
Definition at line 10189 of file gtest.h.
```

--------------------------------

### Individual Test Start Logging

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Logs the start of an individual test, indicating it is running. It uses PrintTestName to format the output.

```cpp
void PrettyUnitTestResultPrinter::OnTestStart(const TestInfo& test_info) {
  ColoredPrintf(COLOR_GREEN, "[ RUN ] ");
  PrintTestName(test_info.test_case_name(), test_info.name());
  printf("\n");
  fflush(stdout);
}
```

--------------------------------

### Variables starting with 't'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacemembers_vars_t.html

This section details variables in the libpointmatcher namespace that start with 't'. It includes their associated functions and classes.

```APIDOC
## Variables starting with 't'

This section details variables in the libpointmatcher namespace that start with 't'. It includes their associated functions and classes.

### T

- **build_map**: Used in `build_map`.
- **icp**: Used in `icp`, `icp_advance_api`, `icp_customized`, `icp_simple`.
- **icp_advance_api**: Used in `icp_advance_api`.
- **icp_customized**: Used in `icp_customized`.
- **icp_simple**: Used in `icp_simple`.

### T_to_map_from_new

- **align_sequence**: Used in `align_sequence`.

### target

- **compute_overlap**: Used in `compute_overlap`.

### target_matches

- **compute_overlap**: Used in `compute_overlap`.

### target_pts_count

- **compute_overlap**: Used in `compute_overlap`.

### target_ratio

- **compute_overlap**: Used in `compute_overlap`.

### test_base

- **icp**: Used in `icp`, `icp_advance_api`, `icp_customized`, `icp_simple`, `point_cloud_generator`.
- **icp_advance_api**: Used in `icp_advance_api`.
- **icp_customized**: Used in `icp_customized`.
- **icp_simple**: Used in `icp_simple`.
- **point_cloud_generator**: Used in `point_cloud_generator`.

### total_point_count

- **build_map**: Used in `build_map`.

### transformation

- **build_map**: Used in `build_map`.

### transformations

- **compute_overlap**: Used in `compute_overlap`.

### translation

- **icp**: Used in `icp`, `icp_advance_api`, `point_cloud_generator`.
- **icp_advance_api**: Used in `icp_advance_api`.
- **point_cloud_generator**: Used in `point_cloud_generator`.

### Tread

- **compute_overlap**: Used in `compute_overlap`.

### Tref

- **compute_overlap**: Used in `compute_overlap`.

### trim

- **icp_customized**: Used in `icp_customized`.

### TypeId

- **testing::internal**: Used in `testing::internal`.
```

--------------------------------

### Global Members starting with 'q'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/globals_q.html

This section details global members in libpointmatcher whose names start with the letter 'q'.

```APIDOC
## Global Members starting with 'q'

### Description
This section details global members in libpointmatcher whose names start with the letter 'q'.

### Members
- **Quadtree** : Defined in `octree.h`
- **Quaternion** : Defined in `pypoint_matcher_helper.h`
- **QuaternionVector** : Defined in `pypoint_matcher_helper.h`
```

--------------------------------

### Initialize PointMatcher

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacecompute__overlap.html

Initializes the PointMatcher library. This is a common setup step.

```python
compute_overlap.PM = pm.PointMatcher
```

--------------------------------

### Functions and Macros starting with 'a'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/globals_defs_a.html

This section lists functions and macros available in the libpointmatcher library whose names start with the letter 'a'.

```APIDOC
## ADD_FAILURE

### Description
Adds a failure to the current test.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ADD_FAILURE_AT

### Description
Adds a failure to the current test at a specific file and line number.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ADD_TO_REGISTRAR

### Description
Adds a component to the registrar.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ADD_TO_REGISTRAR_NO_PARAM

### Description
Adds a component to the registrar without parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_ANY_THROW

### Description
Asserts that the code inside the statement throws an exception.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_DEATH_IF_SUPPORTED

### Description
Asserts that the code inside the statement dies if the platform supports it.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_DOUBLE_EQ

### Description
Asserts that two double-precision floating-point values are approximately equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_EQ

### Description
Asserts that two values are equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_FALSE

### Description
Asserts that a condition is false.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_FLOAT_EQ

### Description
Asserts that two single-precision floating-point values are approximately equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_GE

### Description
Asserts that the first value is greater than or equal to the second value.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_GT

### Description
Asserts that the first value is greater than the second value.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_LE

### Description
Asserts that the first value is less than or equal to the second value.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_LT

### Description
Asserts that the first value is less than the second value.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_NE

### Description
Asserts that two values are not equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_NEAR

### Description
Asserts that two double-precision floating-point values are close to each other within a specified tolerance.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_NO_FATAL_FAILURE

### Description
Asserts that the code inside the statement does not cause a fatal failure.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_NO_THROW

### Description
Asserts that the code inside the statement does not throw an exception.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED1

### Description
Asserts that a predicate with one argument holds true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED2

### Description
Asserts that a predicate with two arguments holds true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED3

### Description
Asserts that a predicate with three arguments holds true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED4

### Description
Asserts that a predicate with four arguments holds true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED5

### Description
Asserts that a predicate with five arguments holds true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED_FORMAT1

### Description
Asserts that a predicate with one argument holds true, using a custom format for failure messages.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED_FORMAT2

### Description
Asserts that a predicate with two arguments holds true, using a custom format for failure messages.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED_FORMAT3

### Description
Asserts that a predicate with three arguments holds true, using a custom format for failure messages.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED_FORMAT4

### Description
Asserts that a predicate with four arguments holds true, using a custom format for failure messages.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_PRED_FORMAT5

### Description
Asserts that a predicate with five arguments holds true, using a custom format for failure messages.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_STRCASEEQ

### Description
Asserts that two strings are equal, ignoring case.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_STRCASENE

### Description
Asserts that two strings are not equal, ignoring case.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_STREQ

### Description
Asserts that two strings are equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_STRNE

### Description
Asserts that two strings are not equal.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_THROW

### Description
Asserts that the code inside the statement throws an exception of a specified type.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None

## ASSERT_TRUE

### Description
Asserts that a condition is true.

### Method
N/A (Macro)

### Endpoint
N/A

### Parameters
None

### Request Example
None

### Response
None
```

--------------------------------

### MatcherTest::SetUp

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classMatcherTest.html

Sets up the test environment before each test case.

```APIDOC
## MatcherTest::SetUp

### Description
Sets up the test environment before each test case. This is a virtual function that can be overridden by derived classes.

### Method
void

### Endpoint
N/A (Test setup method)

### Parameters
None

### Request Example
N/A

### Response
This function does not return a value.
```

--------------------------------

### Class Variables starting with 'w'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_vars_w.html

This section lists variables within the classes of the libpointmatcher library that start with the letter 'w'.

```APIDOC
## Class Variables (w)

### Description
Variables within the classes that start with the letter 'w'.

### Variables
- **w** (Type: Unknown)
```

--------------------------------

### Namespace Variables starting with 'w'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_vars_w.html

This section lists variables within the namespaces of the libpointmatcher library that start with the letter 'w'.

```APIDOC
## Namespace Variables (w)

### Description
Variables within the namespaces that start with the letter 'w'.

### Variables
- **warningFileName** (PointMatcherSupport::FileLogger)
- **warningPrinted** (OutlierFiltersImpl< T >::SurfaceNormalOutlierFilter)
- **warpedXYZ** (GestaltDataPointsFilter< T >::BuildData)
- **weightedPointUsedRatio** (PointMatcher< T >::ErrorMinimizer::ErrorElements)
- **weights** (ElipsoidsDataPointsFilter< T >::BuildData , PointMatcher< T >::ErrorMinimizer::ErrorElements)
- **width** (PointMatcherIO< T >::PCDheader)
```

--------------------------------

### setupArgs

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/globals_s.html

Sets up command-line arguments. This function is defined in build_map.cpp and compute_overlap.cpp.

```APIDOC
## setupArgs()

### Description
Sets up command-line arguments.

### Source Files
build_map.cpp
compute_overlap.cpp
```

--------------------------------

### File Macros starting with 'w'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_vars_w.html

This section lists macros defined at the file level in the libpointmatcher library that start with the letter 'w'.

```APIDOC
## File Macros (w)

### Description
Macros defined at the file level that start with the letter 'w'.

### Macros
- **w** (Type: Unknown)
```

--------------------------------

### SetUpEnvironment

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacemembers_func_s.html

Sets up the testing environment for test cases within the testing::internal namespace.

```APIDOC
## SetUpEnvironment()

### Description
Initializes the testing environment.

### Namespace
testing::internal
```

--------------------------------

### build_map.py Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d050070cc3e4bbd91d897ff8856046e0.html

This script shows how to use the build_map function to construct a map from point cloud data.

```python
from libpointmatcher.build_map import build_map

build_map(input_dir, output_file, parameters)
```

--------------------------------

### Get Class Description

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/Registrar_8h_source.html

Retrieves the description of a class by its name. This method is part of the Registrar class and is used to get metadata about registered classes.

```cpp
const std::string getDescription(const std::string &name) const
```

--------------------------------

### SetUp

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classTransformationCheckerTest-members.html

Sets up the test environment for TransformationCheckerTest. This method is called before each test case.

```APIDOC
## SetUp()

### Description
Virtual method to set up the test environment before each test.

### Method
SetUp

### Parameters
None
```

--------------------------------

### Test Environment Teardown Start Logging

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Logs the start of the global test environment teardown. This is typically called once after all tests have finished execution.

```cpp
void PrettyUnitTestResultPrinter::OnEnvironmentsTearDownStart(
    const UnitTest& /*unit_test*/) {
  ColoredPrintf(COLOR_GREEN, "[----------] ");
  printf("Global test environment tear-down\n");
  fflush(stdout);
}
```

--------------------------------

### testing::internal::SetUpEnvironment

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Sets up the testing environment for a given environment object.

```APIDOC
## SetUpEnvironment

### Description
Sets up the testing environment for a given environment object.

### Signature
```cpp
static void testing::internal::SetUpEnvironment(Environment *env)
```
```

--------------------------------

### Main Function for ICP Examples

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/examples_2icp_8cpp.html

The main entry point for the ICP examples. It handles argument parsing and orchestrates the execution of various ICP-related functionalities.

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

--------------------------------

### Align Sequence Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/dir_d28a4824dc47e487b107a5db32ef43c4.html

Demonstrates how to align a sequence of point clouds using libpointmatcher.

```cpp
#include <pointmatcher/PointMatcher.h>

int main(int argc, char **argv)
{
  // Create a new PointMatcher
  PointMatcher<float> matcher;

  // Load a sequence of point clouds
  auto sequence = matcher.loadSequence("path/to/sequence.m3d");

  // Align the sequence
  auto alignedSequence = matcher.alignSequence(sequence);

  // Save the aligned sequence
  matcher.saveSequence(alignedSequence, "path/to/aligned_sequence.m3d");

  return 0;
}
```

--------------------------------

### Begin Method

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1internal_1_1RangeGenerator-members.html

Returns the starting value of the range.

```APIDOC
## Begin Method

### Description
Provides access to the starting point of the range.

### Signature
Begin() const -> T

### Returns
The starting value of the range.
```

--------------------------------

### Set Starting Index for J

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/namespacecompute__overlap.html

Sets the starting index for the inner loop or iteration related to 'J'. It is typically set to the current index of 'i' plus one.

```python
compute_overlap.starting_J = i + 1
```

--------------------------------

### init()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/structMatchersImpl_1_1NullMatcher.html

Initializes the NullMatcher with a reference set of data points.

```APIDOC
## init()

### Description
Initializes this matcher to find nearest neighbors within the provided `filteredReference`.

### Signature
`virtual void init(const DataPoints &filteredReference)`

### Parameters
- **filteredReference** (const DataPoints &) - The reference data points to be used for neighbor searching.

### Implements
`PointMatcher< T >::Matcher::init`

### Definition
`MatchersImpl.cpp:41`
```

--------------------------------

### Test Case Start Logging

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

Logs the start of a test case, including the number of tests within it and its name. It also handles printing type parameter information if available.

```cpp
void PrettyUnitTestResultPrinter::OnTestCaseStart(const TestCase& test_case) {
  const std::string counts =
      FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
  ColoredPrintf(COLOR_GREEN, "[----------] ");
  printf("%s from %s", counts.c_str(), test_case.name());
  if (test_case.type_param() == NULL) {
    printf("\n");
  } else {
    printf(", where %s = %s\n", kTypeParamLabel, test_case.type_param());
  }
  fflush(stdout);
}
```

--------------------------------

### SetUpTestCaseFunc

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1Test.html

Typedef for the SetUpTestCaseFunc in testing::Test.

```APIDOC
## ◆ SetUpTestCaseFunc
typedef internal::SetUpTestCaseFunc testing::Test::SetUpTestCaseFunc
---
Definition at line 17766 of file gtest.h.
```

--------------------------------

### Usage information for the convert utility

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/convert_8cpp_source.html

Displays the correct command-line usage and provides examples for running the convert utility. This function is called when the number of arguments is insufficient.

```cpp
void usage(char *argv[])
{
 cerr << "Usage " << argv[0] << " [CONFIG.yaml] INPUT.csv/.vtk/.ply OUTPUT.csv/.vtk/.ply" << endl;
 cerr << endl << "Example:" << endl;
 cerr << argv[0] << " ../examples/data/default-convert.yaml ../examples/data/cloud.00000.vtk /tmp/output.vtk" << endl << endl;
 cerr << " or " << endl;
 cerr << argv[0] << "../examples/data/cloud.00000.vtk /tmp/output.csv" << endl << endl;

}
```

--------------------------------

### Translation, Rotation, and Upscaling Transformation Example

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/Transformations_8cpp_source.html

Example of creating a 3D transformation that includes translation, rotation, and upscaling, then applying and asserting its effect on DataPoints. This is part of a test case.

```cpp
{ 
const Eigen::Matrix<NumericType, 3, 1> translation{ 1, -3, -4 };
const Eigen::Quaternion<NumericType> rotation{ 0, -2.54, 0, 0.5 };
const NumericType scale{ 1.9 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, 1e-6);
}
```

--------------------------------

### Test Execution Flow (C++)

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/gtest-all_8cc_source.html

This method orchestrates the execution of a test, including calling SetUp(), the test body, and TearDown(). It ensures TearDown() is called even if SetUp() or the test body fails.

```cpp
void Test::Run() {
if (!HasSameFixtureClass()) return;

internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
impl->os_stack_trace_getter()->UponLeavingGTest();
internal::HandleExceptionsInMethodIfSupported(this, &Test::SetUp, "SetUp()")
// We will run the test only if SetUp() was successful.
if (!HasFatalFailure()) {
impl->os_stack_trace_getter()->UponLeavingGTest();
internal::HandleExceptionsInMethodIfSupported(
this, &Test::TestBody, "the test body");
}

// However, we want to clean up as much as possible. Hence we will
// always call TearDown(), even if SetUp() or the test body has
// failed.
impl->os_stack_trace_getter()->UponLeavingGTest();
internal::HandleExceptionsInMethodIfSupported(
this, &Test::TearDown, "TearDown()");
}

```

--------------------------------

### OnTestStart

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1EmptyTestEventListener.html

Called at the beginning of a test.

```APIDOC
## OnTestStart()

### Description
This method is called before a test begins execution.

### Method
`virtual void OnTestStart(const TestInfo &)`

### Parameters
* **`const TestInfo &`**: A reference to the TestInfo object.

### Remarks
Implements testing::TestEventListener.
```

--------------------------------

### ICP Setup and Configuration

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/icp_8py_source.html

Imports necessary libraries and sets up configuration parameters for ICP. This includes options for saving transformations, verbosity, configuration file paths, output directories, and dimensionality (2D/3D).

```python
import numpy as np

from pypointmatcher import pointmatcher as pm
from utils import parse_translation, parse_rotation

PM = pm.PointMatcher
DP = PM.DataPoints

# Save transformation matrix in three different files:
# - BASEFILENAME_inti_transfo.txt
# - BASEFILENAME_icp_transfo.txt
# - BASEFILENAME_complete_transfo.txt
# (default: false)
is_transfo_saved = False

# Be more verbose (info logging to the console)
is_verbose = True

# Load the config from a YAML file (default: default.yaml)
# Leave empty to set the ICP default configuration
config_file = "../data/default.yaml"

# Path of output directory (default: tests/icp/)
# The output directory must already exist
# Leave empty to save in the current directory
output_base_directory = "tests/icp/"

# Name of output files (default: test)
output_base_file = "test"

# Toggle to switch between 2D and 3D point clouds
is_3D = True

# Add an initial 3D translation before applying ICP (default: 0,0,0)
# Add an initial 2D translation before applying ICP (default: 0,0)
```

--------------------------------

### Class Members starting with 'w'

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/functions_w.html

This section lists members of classes within the libpointmatcher library whose names start with the letter 'w'. It includes variables and functions with their respective class scopes.

```APIDOC
## Class Members starting with 'w'

### Description
Lists members of classes within the libpointmatcher library whose names start with the letter 'w'. It includes variables and functions with their respective class scopes.

### Members
- **warningFileName** : PointMatcherSupport::FileLogger
- **warningPrinted** : OutlierFiltersImpl< T >::SurfaceNormalOutlierFilter
- **warningStream()** : PointMatcherSupport::FileLogger , PointMatcherSupport::Logger
- **warpedXYZ** : GestaltDataPointsFilter< T >::BuildData
- **weightedPointUsedRatio** : PointMatcher< T >::ErrorMinimizer::ErrorElements
- **weights** : ElipsoidsDataPointsFilter< T >::BuildData , PointMatcher< T >::ErrorMinimizer::ErrorElements
- **Welsch** : OutlierFiltersImpl< T >::RobustOutlierFilter
- **WideCStringEquals()** : testing::internal::String
- **width** : PointMatcherIO< T >::PCDheader
```

--------------------------------

### GenericTest Class Definition

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/GeneralTests_8cpp_source.html

Defines a base class for ICP tests, providing SetUp and TearDown methods. SetUp is called before each test, and TearDown is called after. It includes commented-out code for setting up a file logger.

```cpp
class GenericTest: public IcpHelper
{

public:

// Will be called for every tests
virtual void SetUp()
{
  icp.setDefault();
  // Uncomment for consol outputs
  //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
}

// Will be called for every tests
virtual void TearDown()
{
}
};

```

--------------------------------

### Begin()

Source: https://docs.ros.org/en/noetic/api/libpointmatcher/html/classtesting_1_1internal_1_1ValuesInIteratorRangeGenerator.html

Returns a pointer to the beginning of the parameter iterator interface.

```APIDOC
## Begin()
template<typename T >
virtual ParamIteratorInterface<T>* testing::internal::ValuesInIteratorRangeGenerator< T >::Begin() const
```
Tokens:
Raw