You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
1.4 KiB
C++
61 lines
1.4 KiB
C++
/** @file
|
|
* @brief The global correction based upon 6D Lu Milios style SLAM in 6D but with a helix correction step
|
|
*
|
|
* @author Peter Schneider. Institute of Computer Science, University of Koblenz , Germany.
|
|
*/
|
|
|
|
#ifndef __GHELIX_Q2_H__
|
|
#define __GHELIX_Q2_H__
|
|
|
|
#include <vector>
|
|
using std::vector;
|
|
|
|
#include "graphSlam6D.h"
|
|
#include "icp6D.h"
|
|
#include "graph.h"
|
|
|
|
#include "newmat/newmatio.h"
|
|
|
|
//typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
|
|
|
|
|
|
/*
|
|
* @brief Representation of 3D scan matching based upon Lu/Milios in 6D but using helix correction step.
|
|
*
|
|
* H. Pottman, et al., Simultaneous registration of multiple
|
|
* views of a 3D object,
|
|
*/
|
|
class ghelix6DQ2 : public graphSlam6D {
|
|
|
|
public:
|
|
/**
|
|
* Constructor (default)
|
|
*/
|
|
ghelix6DQ2() {};
|
|
ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer,
|
|
double mdm = 25.0,
|
|
double max_dist_match = 25.0,
|
|
int max_num_iterations = 50,
|
|
bool quiet = false,
|
|
bool meta = false,
|
|
int rnd = 1,
|
|
bool eP = true,
|
|
int anim = -1,
|
|
double epsilonICP = 0.0000001,
|
|
int nns_method = simpleKD,
|
|
double epsilonLUM = 0.5);
|
|
|
|
virtual ~ghelix6DQ2();
|
|
|
|
virtual double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
|
|
|
|
static double LUM[4];
|
|
|
|
private:
|
|
|
|
double genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs,
|
|
NEWMAT::Matrix *B, NEWMAT::ColumnVector *Bd);
|
|
};
|
|
|
|
#endif
|