3dpcp/include/slam6d/icp6Ddual.h
2012-09-16 14:33:11 +02:00

33 lines
826 B
C++

/** @file
* @brief Definition of the ICP error function minimization
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
* @author ???, Jacobs University Bremen gGmbH, Germany
*/
#ifndef __ICP6DDUALQUAT_H__
#define __ICP6DDUALQUAT_H__
#include "icp6Dminimizer.h"
/**
* @brief Implementation of the ICP error function minimization via singular value decomposition
*/
class icp6D_DUAL : public icp6Dminimizer
{
public:
/**
* Constructor
*/
icp6D_DUAL(bool quiet = false) : icp6Dminimizer(quiet) {};
/**
* Destructor
*/
virtual ~icp6D_DUAL() {};
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
const double centroid_m[3], const double centroid_d[3]);
inline int getAlgorithmID() { return 4; };
};
#endif