43 lines
1.5 KiB
C
43 lines
1.5 KiB
C
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/** @file
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* @brief Definition of the ICP error function minimization
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany.
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*/
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#ifndef __ICP6DQUAT_H__
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#define __ICP6DQUAT_H__
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#include "icp6Dminimizer.h"
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/**
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* @brief Implementation of the ICP error function minimization via quaternions
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*/
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class icp6D_QUAT : public icp6Dminimizer
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{
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public:
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/** constructor */
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icp6D_QUAT(bool quiet = false) : icp6Dminimizer(quiet) {};
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/** destructor */
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virtual ~icp6D_QUAT() {};
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double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
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const double centroid_m[3], const double centroid_d[3]);
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double Point_Point_Align_Parallel(const int openmp_num_threads,
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const unsigned int n[OPENMP_NUM_THREADS],
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const double sum[OPENMP_NUM_THREADS],
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const double centroid_m[OPENMP_NUM_THREADS][3],
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const double centroid_d[OPENMP_NUM_THREADS][3],
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const double Si[OPENMP_NUM_THREADS][9], double *alignxf);
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inline int getAlgorithmID() { return 1; };
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protected:
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void quaternion2matrix(double *q, double m[3][3]);
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int ferrari(double a, double b, double c, double d, double rts[4]);
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int qudrtc(double b, double c, double rts[4]);
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double cubic(double p, double q, double r);
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void maxEigenVector(double Q[4][4], double ev[4]);
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void characteristicPol(double Q[4][4], double c[4]);
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};
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#endif
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