61 lines
1.4 KiB
Text
61 lines
1.4 KiB
Text
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/** @file
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* @brief The global correction based upon 6D Lu Milios style SLAM in 6D but with a helix correction step
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*
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* @author Peter Schneider. Institute of Computer Science, University of Koblenz , Germany.
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*/
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#ifndef __GHELIX_Q2_H__
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#define __GHELIX_Q2_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 Representation of 3D scan matching based upon Lu/Milios in 6D but using helix correction step.
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*
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* H. Pottman, et al., Simultaneous registration of multiple
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* views of a 3D object,
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*/
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class ghelix6DQ2 : 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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ghelix6DQ2() {};
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ghelix6DQ2(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 ~ghelix6DQ2();
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virtual 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 genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs,
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NEWMAT::Matrix *B, NEWMAT::ColumnVector *Bd);
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};
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#endif
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