3dpcp/include/slam6d/icp6Dapx.h

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2012-09-16 12:33:11 +00:00
/** @file
* @brief Definition of the ICP error function minimization
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#ifndef __ICP6DAPX_H__
#define __ICP6DAPX_H__
#include "icp6Dminimizer.h"
/**
* @brief Implementation of the ICP error function minimization via approximation
*/
class icp6D_APX : public icp6Dminimizer
{
public:
/**
* Constructor
*/
icp6D_APX(bool quiet = false) : icp6Dminimizer(quiet) {};
/**
* Destructor
*/
virtual ~icp6D_APX() {};
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
const double centroid_m[3], const double centroid_d[3]);
double Point_Point_Align_Parallel(const int openmp_num_threads,
const unsigned int n[OPENMP_NUM_THREADS],
const double sum[OPENMP_NUM_THREADS],
const double centroid_m[OPENMP_NUM_THREADS][3],
const double centroid_d[OPENMP_NUM_THREADS][3],
const vector<PtPair> pairs[OPENMP_NUM_THREADS],
double *alignxf);
static void computeRt(const double *x, const double *dx, double *alignxf);
inline int getAlgorithmID() { return 6; };
};
#endif