43 lines
1.2 KiB
Text
43 lines
1.2 KiB
Text
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/** @file
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* @brief Definition of the ICP error function minimization
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* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __ICP6DAPX_H__
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#define __ICP6DAPX_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 approximation
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*/
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class icp6D_APX : public icp6Dminimizer
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{
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public:
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/**
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* Constructor
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*/
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icp6D_APX(bool quiet = false) : icp6Dminimizer(quiet) {};
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/**
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* Destructor
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*/
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virtual ~icp6D_APX() {};
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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 vector<PtPair> pairs[OPENMP_NUM_THREADS],
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double *alignxf);
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static void computeRt(const double *x, const double *dx, double *alignxf);
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inline int getAlgorithmID() { return 6; };
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};
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#endif
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