3dpcp/.svn/pristine/16/16945a3e61b6eeea3b93edaf0624c43913d37ef8.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Implementation of 3D scan matching with ICP
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
/**
* Will return the maximal number of randomization
*
* @return the maximal number of iterations
*/
inline int icp6D::get_rnd()
{
return rnd;
}
/**
* Will return weather to use the meta scan
*
* @return the maximal number of iterations
*/
inline bool icp6D::get_meta()
{
return meta;
}
/**
* Will return the anim flag
*
* @return the anim flag
*/
inline int icp6D::get_anim() {
return anim;
}
/**
* Will return the used nearest neigbor search method
*
* @return the nns_method number
*/
inline int icp6D::get_nns_method()
{
return nns_method;
}
/**
* Set the anim flag
*
* @param anim Animate which frames?
*/
inline void icp6D::set_anim(int anim) {
this->anim = anim;
}
/**
* Get the maximal distance for matching
*
* @return the maximal distance for matching
*/
inline double icp6D::get_max_dist_match2() {
return max_dist_match2;
}
/**
* Set the maximal distance for matching
*
* @param max_dist_match2 the maximal distance (^2 !!!) for matching
*/
inline void icp6D::set_max_dist_match2(double max_dist_match2) {
this->max_dist_match2 = max_dist_match2;
}
/**
* Set the Maximum number of iterations
*
* @param max_num_iterations Maximum number of iterations
*/
inline void icp6D::set_max_num_iterations(int max_num_iterations) {
this->max_num_iterations = max_num_iterations;
}
/**
* @brief Enable / Disable CAD matching (i.e. matching only against first scan)
*
* @param cad_matching The new value to determine if CAD matching should
* be done
*/
inline void icp6D::set_cad_matching (bool cad_matching)
{
this->cad_matching = cad_matching;
}
inline bool icp6D::get_cad_matching (void)
{
return this->cad_matching;
}