63 lines
1.5 KiB
C
63 lines
1.5 KiB
C
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/** @file
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* @brief The global correction based upon APX transform
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*
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __GAPX6D_H__
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#define __GAPX6D_H__
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#include <vector>
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using std::vector;
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#include "graphSlam6D.h"
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#include "icp6D.h"
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#include "graph.h"
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#include "newmat/newmatio.h"
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//typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
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/*
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* @brief
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*
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*/
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class gapx6D : public graphSlam6D {
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public:
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/**
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* Constructor (default)
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*/
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gapx6D() {};
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gapx6D(icp6Dminimizer *my_icp6Dminimizer,
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double mdm = 25.0,
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double max_dist_match = 25.0,
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int max_num_iterations = 50,
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bool quiet = false,
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bool meta = false,
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int rnd = 1,
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bool eP = true,
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int anim = -1,
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double epsilonICP = 0.0000001,
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int nns_method = simpleKD,
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double epsilonLUM = 0.5);
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virtual ~gapx6D();
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double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
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static double LUM[4];
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private:
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double genBArotForLinkedPair(int firstScanNum, int secondScanNum, vPtPair *ptpairs,
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double *centroids_m, double *centroids_d, NEWMAT::Matrix *B, NEWMAT::ColumnVector *A);
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double genBAtransForLinkedPair(int firstScanNum, int secondScanNum,
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double *centroids_m, double *centroids_d,
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NEWMAT::SymmetricMatrix *B, NEWMAT::ColumnVector *A, NEWMAT::ColumnVector &X);
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};
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#endif
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