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.
43 lines
1.5 KiB
C++
43 lines
1.5 KiB
C++
/** @file
|
|
* @brief Definition of the ICP error function minimization
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany.
|
|
*/
|
|
|
|
#ifndef __ICP6DQUAT_H__
|
|
#define __ICP6DQUAT_H__
|
|
|
|
#include "icp6Dminimizer.h"
|
|
|
|
/**
|
|
* @brief Implementation of the ICP error function minimization via quaternions
|
|
*/
|
|
class icp6D_QUAT : public icp6Dminimizer
|
|
{
|
|
public:
|
|
/** constructor */
|
|
icp6D_QUAT(bool quiet = false) : icp6Dminimizer(quiet) {};
|
|
/** destructor */
|
|
virtual ~icp6D_QUAT() {};
|
|
|
|
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 double Si[OPENMP_NUM_THREADS][9], double *alignxf);
|
|
inline int getAlgorithmID() { return 1; };
|
|
|
|
protected:
|
|
void quaternion2matrix(double *q, double m[3][3]);
|
|
int ferrari(double a, double b, double c, double d, double rts[4]);
|
|
int qudrtc(double b, double c, double rts[4]);
|
|
double cubic(double p, double q, double r);
|
|
void maxEigenVector(double Q[4][4], double ev[4]);
|
|
void characteristicPol(double Q[4][4], double c[4]);
|
|
};
|
|
|
|
#endif
|