30 lines
822 B
Text
30 lines
822 B
Text
|
/** @file
|
||
|
|
* @brief Definition of the ICP error function minimization
|
||
|
|
* @author Flavia Grosan, Alex Tandrau. Jacobs University Bremen gGmbH, Germany.
|
||
|
|
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __ICP6DQUATSCALE_H__
|
||
|
|
#define __ICP6DQUATSCALE_H__
|
||
|
|
|
||
|
|
#include "icp6Dquat.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Implementation of the ICP error function minimization via quaternions
|
||
|
|
*/
|
||
|
|
class icp6D_QUAT_SCALE : public icp6D_QUAT
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/** constructor */
|
||
|
|
icp6D_QUAT_SCALE(bool quiet = false) : icp6D_QUAT(quiet) {};
|
||
|
|
/** destructor */
|
||
|
|
virtual ~icp6D_QUAT_SCALE() {};
|
||
|
|
|
||
|
|
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
|
||
|
|
const double centroid_m[3], const double centroid_d[3]);
|
||
|
|
inline int getAlgorithmID() { return 9; };
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|