99 lines
1.9 KiB
Text
99 lines
1.9 KiB
Text
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/**
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* @file
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* @brief Implementation of 3D scan matching with ICP
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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/**
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* Will return the maximal number of randomization
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*
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* @return the maximal number of iterations
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*/
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inline int icp6D::get_rnd()
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{
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return rnd;
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}
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/**
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* Will return weather to use the meta scan
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*
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* @return the maximal number of iterations
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*/
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inline bool icp6D::get_meta()
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{
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return meta;
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}
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/**
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* Will return the anim flag
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*
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* @return the anim flag
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*/
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inline int icp6D::get_anim() {
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return anim;
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}
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/**
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* Will return the used nearest neigbor search method
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*
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* @return the nns_method number
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*/
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inline int icp6D::get_nns_method()
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{
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return nns_method;
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}
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/**
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* Set the anim flag
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*
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* @param anim Animate which frames?
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*/
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inline void icp6D::set_anim(int anim) {
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this->anim = anim;
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}
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/**
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* Get the maximal distance for matching
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*
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* @return the maximal distance for matching
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*/
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inline double icp6D::get_max_dist_match2() {
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return max_dist_match2;
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}
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/**
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* Set the maximal distance for matching
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*
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* @param max_dist_match2 the maximal distance (^2 !!!) for matching
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*/
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inline void icp6D::set_max_dist_match2(double max_dist_match2) {
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this->max_dist_match2 = max_dist_match2;
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}
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/**
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* Set the Maximum number of iterations
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*
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* @param max_num_iterations Maximum number of iterations
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*/
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inline void icp6D::set_max_num_iterations(int max_num_iterations) {
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this->max_num_iterations = max_num_iterations;
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}
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/**
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* @brief Enable / Disable CAD matching (i.e. matching only against first scan)
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*
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* @param cad_matching The new value to determine if CAD matching should
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* be done
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*/
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inline void icp6D::set_cad_matching (bool cad_matching)
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{
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this->cad_matching = cad_matching;
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}
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inline bool icp6D::get_cad_matching (void)
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{
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return this->cad_matching;
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}
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