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92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
/** @file
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* @brief Implementation of the virtual functor for ICP error function minimization
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* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
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*/
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#ifndef __ICP6DMINIMIZER__
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#define __ICP6DMINIMIZER__
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#ifdef _MSC_VER
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#if !defined _OPENMP && defined OPENMP
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#define _OPENMP
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#endif
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#endif
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#ifdef _OPENMP
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#include <omp.h>
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#endif
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#include <vector>
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using std::vector;
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#ifdef _OPENMP
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#include <omp.h>
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#endif
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#include "ptpair.h"
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#include <iostream>
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using std::cout;
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using std::cerr;
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using std::endl;
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#include <stdlib.h>
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class icp6Dminimizer {
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public:
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/**
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* Constructor
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*/
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icp6Dminimizer(bool quiet = false) { this->quiet = quiet; };
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/**
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* Destructor
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*/
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virtual ~icp6Dminimizer() {};
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/**
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* aligning the point pairs
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*/
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// a detailed discussion of the minimization techniques used for this
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// function is given in:
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// Andreas Nuechter, Jan Elseberg, Peter Schneider, and Dietrich Paulus.
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// Study of Parameterizations for the Rigid Body Transformations of The
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// Scan Registration Problem, Journal Computer Vision and Image
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// Understanding (CVIU), Elsevier Science, Volume 114, Issue 8,
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// pp. 963-980, August 2010.
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virtual double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
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const double centroid_m[3], const double centroid_d[3]) = 0;
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/**
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* aligning the point pairs parallel algorithms
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*/
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virtual double Point_Point_Align_Parallel(const int openmp_num_threads,
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const unsigned int n[OPENMP_NUM_THREADS],
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const double sum[OPENMP_NUM_THREADS],
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const double centroid_m[OPENMP_NUM_THREADS][3],
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const double centroid_d[OPENMP_NUM_THREADS][3],
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const double Si[OPENMP_NUM_THREADS][9],
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double *alignxf)
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{
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cout << "this function is not implemented!!!" << endl;
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exit(-1);
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}
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virtual double Point_Point_Align_Parallel(const int openmp_num_threads,
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const unsigned int n[OPENMP_NUM_THREADS],
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const double sum[OPENMP_NUM_THREADS],
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const double centroid_m[OPENMP_NUM_THREADS][3],
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const double centroid_d[OPENMP_NUM_THREADS][3],
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const vector<PtPair> pairs[OPENMP_NUM_THREADS],
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double *alignxf)
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{
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cout << "this function is not implemented!!!" << endl;
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exit(-1);
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}
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virtual int getAlgorithmID() = 0;
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protected:
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bool quiet; ///< determines the verbosity
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};
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#endif
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