Format doxygen comments

Author: Heiko Thiel

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/icp.h

@@ -71,8 +71,9 @@ class PCL_EXPORTS ICP {
   /** @{ */
   /** \brief Convergence is detected when the change of the fitness between the current
    * and previous iteration becomes smaller than the given epsilon (set in cm^2). The
-   * fitness is the mean squared euclidean distance between corresponding points. \note
-   * Only accepted if it is greater than 0.
+   * fitness is the mean squared euclidean distance between corresponding points.
+   *
+   * \note Only accepted if it is greater than 0.
    */
   void
   setEpsilon(const float epsilon);
@@ -83,7 +84,9 @@ class PCL_EXPORTS ICP {
 
   /** @{ */
   /** \brief The registration fails if the number of iterations exceeds the maximum
-   * number of iterations. \note Must be greater than 0. Smaller values are set to 1.
+   * number of iterations.
+   *
+   * \note Must be greater than 0. Smaller values are set to 1.
    */
   void
   setMaxIterations(const unsigned int max_iter);
@@ -96,6 +99,7 @@ class PCL_EXPORTS ICP {
   /** \brief The registration fails at the state of convergence if the overlap between
    * the model and data shape is smaller than a minimum overlap. The overlap is the
    * fraction of correspondences (after rejection) to the initial number of data points.
+   *
    * \note Must be between zero and one. Values outside this range are clamped to the
    * nearest valid value.
    */
@@ -108,7 +112,9 @@ class PCL_EXPORTS ICP {
 
   /** @{ */
   /** \brief The registration fails at the state of convergence if the fitness is bigger
-   * than this threshold (set in cm^2) \note Must be greater than zero.
+   * than this threshold (set in cm^2)
+   *
+   * \note Must be greater than zero.
    */
   void
   setMaxFitness(const float fitness);
@@ -121,8 +127,9 @@ class PCL_EXPORTS ICP {
   /** \brief Correspondences are rejected if the squared distance is above a threshold.
    * This threshold is initialized with infinity (all correspondences are accepted in
    * the first iteration). The threshold of the next iterations is set to the fitness of
-   * the current iteration multiplied by the factor set by this method. \note Must be
-   * greater or equal one. Smaller values are set to one.
+   * the current iteration multiplied by the factor set by this method.
+   *
+   * \note Must be greater or equal one. Smaller values are set to one.
    */
   void
   setCorrespondenceRejectionFactor(const float factor);
@@ -133,8 +140,10 @@ class PCL_EXPORTS ICP {
 
   /** @{ */
   /** \brief Correspondences are rejected if the angle between the normals is bigger
-   * than this threshold. Set in degrees. \note Must be between 180 degrees and 0.
-   * Values outside this range are clamped to the nearest valid value.
+   * than this threshold. Set in degrees.
+   *
+   * \note Must be between 180 degrees and 0. Values outside this range are clamped to
+   * the nearest valid value.
    */
   void
   setMaxAngle(const float angle);
@@ -144,9 +153,13 @@ class PCL_EXPORTS ICP {
   /** @} */
 
   /** \brief Find the transformation that aligns the data cloud (source) to the model
-   * mesh (target). \param[in] mesh_model Model mesh (target). \param[in] cloud_data
-   * Data cloud (source). \param[in] T_init Initial guess for the transformation.
-   * \paran[out] T_final The computed transformation.
+   * mesh (target).
+   *
+   * \param[in] mesh_model Model mesh (target).
+   * \param[in] cloud_data Data cloud (source).
+   * \param[in] T_init Initial guess for the transformation.
+   * \param[out] T_final The computed transformation.
+   *
    * \return true if success.
    */
   bool
@@ -166,27 +179,38 @@ class PCL_EXPORTS ICP {
   using KdTreeConstPtr = KdTree::ConstPtr;
 
   /** \brief Selects the model points that are pointing towards to the camera (data
-   * coordinate system = camera coordinate system). \param[in] mesh_model Input mesh.
+   * coordinate system = camera coordinate system).
+   *
+   * \param[in] mesh_model Input mesh.
    * \param[in] T_inv Transformation that brings the model mesh into the camera
-   * coordinate system. \return Cloud containing the selected points (the connectivity
+   * coordinate system.
+   *
+   * \return Cloud containing the selected points (the connectivity
    * information of the mesh is currently not used during the registration).
    */
   CloudNormalConstPtr
   selectModelPoints(const MeshConstPtr& mesh_model, const Eigen::Matrix4f& T_inv) const;
 
   /** \brief Selects the valid data points. The input cloud is organized -> contains
-   * nans which are removed \param[in] cloud_data Input cloud. \return Cloud containing
-   * the selected points.
+   * nans which are removed
+   *
+   * \param[in] cloud_data Input cloud.
+   *
+   * \return Cloud containing the selected points.
    */
   CloudNormalConstPtr
   selectDataPoints(const CloudXYZRGBNormalConstPtr& cloud_data) const;
 
   /** \brief Finds the transformation that minimizes the point to plane distance from
    * the source to the target cloud. The input clouds must be arranged to have one to
    * one correspondences (point 0 in source corresponds to point 0 in target, point 1 in
-   * source to point 1 in target and so on). \param[in] cloud_source Source cloud
-   * (data). \param[in] cloud_target Target cloud (model). \param[out] T The computed
-   * transformation. \return true if success
+   * source to point 1 in target and so on).
+   *
+   * \param[in] cloud_source Source cloud (data).
+   * \param[in] cloud_target Target cloud (model).
+   * \param[out] T The computed transformation.
+   *
+   * \return true if success
    */
   bool
   minimizePointPlane(const CloudNormal& cloud_source,

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/impl/common_types.hpp

@@ -119,15 +119,12 @@ struct PointIHS : public pcl::ihs::_PointIHS {
     this->directions = 0;
   }
 
-  // inline       Eigen::Vector3i getRGBVector3i ()       {return (Eigen::Vector3i (r,
-  // g, b));}
   inline const Eigen::Vector3i
   getRGBVector3i() const
   {
     return (Eigen::Vector3i(r, g, b));
   }
-  // inline       Eigen::Vector4i getRGBVector4i ()       {return (Eigen::Vector4i (r,
-  // g, b, a));}
+
   inline const Eigen::Vector4i
   getRGBVector4i() const
   {

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h

@@ -186,6 +186,7 @@ public Q_SLOTS:
   reset();
 
   /** \brief Saves the model mesh in a file with the given filename and filetype.
+   *
    * \note The extension of the filename is ignored!
    */
   void

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/input_data_processing.h

@@ -71,21 +71,28 @@ class PCL_EXPORTS InputDataProcessing {
   InputDataProcessing();
 
   /** \brief Apply the segmentation on the input cloud (XYZ and HSV).
+   *
    * \param[in] cloud_in The input cloud.
    * \param[out] cloud_out The segmented cloud.
    * \param[out] cloud_discarded Cloud containing all points that were removed during
-   * the HSV segmentation. The points in the XYZ segmentation are NOT used! \return true
-   * if success. \note Converts from m to cm.
+   * the HSV segmentation. The points in the XYZ segmentation are NOT used!
+   *
+   * \return true if success.
+   *
+   * \note Converts from m to cm.
    */
   bool
   segment(const CloudXYZRGBAConstPtr& cloud_in,
           CloudXYZRGBNormalPtr& cloud_out,
           CloudXYZRGBNormalPtr& cloud_discarded) const;
 
   /** \brief Calculate the normals of the input cloud.
+   *
    * \param[in] cloud_in The input cloud.
    * \param[out] cloud_out Input cloud with normals appended.
+   *
    * \return true if success.
+   *
    * \note Converts from m to cm.
    */
   bool
@@ -167,7 +174,9 @@ class PCL_EXPORTS InputDataProcessing {
   /** @{ */
   /** \brief Simple color segmentation in the HSV color space. Points inside of H - S -
    * V min / max are discarded. H must be in the range 0 and 360, S and V in the range 0
-   * and 1. \note If you set values outside of the allowed range the member variables
+   * and 1.
+   *
+   * \note If you set values outside of the allowed range the member variables
    * are clamped to the next best value. E.g. H is set to 0 if you pass -1.
    */
   inline void
@@ -316,10 +325,12 @@ class PCL_EXPORTS InputDataProcessing {
   dilate(MatrixXb& mask, const int k) const;
 
   /** \brief Calculates the manhattan distance map for the input matrix.
-   * \param[in] mat  Input matrix.
+   *
+   * \param[in] mat Input matrix.
    * \param[in] comp Compared value. mat==comp will have zero distance.
+   *
    * \return Matrix containing the distances to mat==comp
-   * \see http://ostermiller.org/dilate_and_erode.html
+   *         \see http://ostermiller.org/dilate_and_erode.html
    */
   MatrixXi
   manhattan(const MatrixXb& mat, const bool comp) const;

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/integration.h

@@ -73,18 +73,22 @@ class PCL_EXPORTS Integration {
   Integration();
 
   /** \brief Reconstructs a mesh from an organized cloud.
+   *
    * \param[in] cloud_data Input cloud. Must be organized.
    * \param[in] mesh_model Reconstructed mesh.
+   *
    * \return true if success.
    */
   bool
   reconstructMesh(const CloudXYZRGBNormalConstPtr& cloud_data,
                   MeshPtr& mesh_model) const;
 
-  /** \brief Merge the organized cloud into the mesh.
+  /** \brief Merge the organized cloud into the mesh.#
+   *
    * \param[in] cloud_data Input cloud. Must be organized.
    * \param[in,out] mesh_model Mesh with new points integrated.
    * \param[in] T Transformation that aligns the data cloud with the model mesh.
+   *
    * \return true if success.
    */
   bool
@@ -96,22 +100,27 @@ class PCL_EXPORTS Integration {
    * again age by one iteration. Points that are observed again get an age of 0. Once a
    * point reaches the maximum age it is decided if the point is removed or kept in the
    * mesh. A point is removed if it has not been observed from a minimum number of
-   * directions. \param[in,out] mesh The mesh which should be processed. \param[in]
-   * cleanup Calls mesh.cleanup () if true.
+   * directions.
+   *
+   * \param[in,out] mesh The mesh which should be processed.
+   * \param[in] cleanup Calls mesh.cleanup() if true.
    */
   void
   age(const MeshPtr& mesh, const bool cleanup = true) const;
 
   /** \brief Removes unfit vertices regardless of their age. Unfit vertices are those
-   * that have not been observed from enough directions. \param[in,out] mesh The which
-   * should be processed. \param[in] cleanup Calls mesh.cleanup () if true.
+   * that have not been observed from enough directions.
+   *
+   * \param[in,out] mesh The which should be processed.
+   * \param[in] cleanup Calls mesh.cleanup() if true.
    */
   void
   removeUnfitVertices(const MeshPtr& mesh, const bool cleanup = true) const;
 
   /** @{ */
   /** \brief Corresponding points are averaged out if their distance is below a distance
    * threshold. Else the points are added to the mesh as new vertices (Set in cm^2).
+   *
    * \note Must be greater than zero.
    */
   void
@@ -122,28 +131,34 @@ class PCL_EXPORTS Integration {
 
   /** @{ */
   /** \brief Corresponding points are only averaged out if the angle between the normals
-   * is smaller than an angle threshold. \note Must be between 0 and 180. Values outside
-   * this range are clamped to the nearest valid value.
+   * is smaller than an angle threshold.
+   *
+   * \note Must be between 0 and 180. Values outside this range are clamped to the
+   * nearest valid value.
    */
   void
   setMaxAngle(const float angle);
   float
   getMaxAngle() const;
   /** @} */
 
-  /** @{  */
+  /** @{ */
   /** \brief Once a point reaches the maximum age it is decided if the point is removed
-   * or kept in the mesh. \note Must be greater than zero.
+   * or kept in the mesh.
+   *
+   * \note Must be greater than zero.
    */
   void
   setMaxAge(const unsigned int age);
   unsigned int
   getMaxAge() const;
   /** @} */
 
-  /** @{  */
+  /** @{ */
   /** \brief A point is removed if it has not been observed from a minimum number of
-   * directions. \note Must be greater than zero.
+   * directions.
+   *
+   * \note Must be greater than zero.
    */
   void
   setMinDirections(const unsigned int directions);
@@ -217,18 +232,21 @@ class PCL_EXPORTS Integration {
   float max_squared_distance_;
 
   /** \brief Maximum angle between normals below which points are averaged out. In
-   * degrees. */
+   * degrees.
+   */
   float max_angle_;
 
   /** \brief Minimum weight above which points are added. */
   float min_weight_;
 
   /** \brief Once a point reaches the maximum age it is decided if the point is removed
-   * or kept in the mesh. */
+   * or kept in the mesh.
+   */
   unsigned int max_age_;
 
   /** \brief A point is removed if it has not been observed from a minimum number of
-   * directions. */
+   * directions.
+   */
   unsigned int min_directions_;
 };
 } // End namespace ihs

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/mesh_processing.h

@@ -45,7 +45,10 @@
 namespace pcl {
 namespace ihs {
 /** \brief Contains methods that take advantage of the connectivity information in the
- * mesh. \author Martin Saelzle \ingroup apps
+ * mesh.
+ *
+ * \author Martin Saelzle
+ * \ingroup apps
  */
 class MeshProcessing {
 public:
@@ -59,9 +62,11 @@ class MeshProcessing {
   MeshProcessing();
 
   /** \brief Inserts triangles into jagged boundaries, removes isolated triangles and
-   * closes triangular holes. \param[in,out] mesh The mesh which should be processed.
+   * closes triangular holes.
+   *
+   * \param[in,out] mesh The mesh which should be processed.
    * \param[in] boundary_collection Collection of boundary half-edges.
-   * \param[in] cleanup Calls mesh.cleanup () if true.
+   * \param[in] cleanup Calls mesh.cleanup() if true.
    */
   void
   processBoundary(Mesh& mesh,