98 lines
1.9 KiB
Text
98 lines
1.9 KiB
Text
/**
|
|
* @file
|
|
* @brief Implementation of 3D scan matching with ICP
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
|
|
/**
|
|
* Will return the maximal number of randomization
|
|
*
|
|
* @return the maximal number of iterations
|
|
*/
|
|
inline int icp6D::get_rnd()
|
|
{
|
|
return rnd;
|
|
}
|
|
|
|
/**
|
|
* Will return weather to use the meta scan
|
|
*
|
|
* @return the maximal number of iterations
|
|
*/
|
|
inline bool icp6D::get_meta()
|
|
{
|
|
return meta;
|
|
}
|
|
|
|
/**
|
|
* Will return the anim flag
|
|
*
|
|
* @return the anim flag
|
|
*/
|
|
inline int icp6D::get_anim() {
|
|
return anim;
|
|
}
|
|
|
|
/**
|
|
* Will return the used nearest neigbor search method
|
|
*
|
|
* @return the nns_method number
|
|
*/
|
|
inline int icp6D::get_nns_method()
|
|
{
|
|
return nns_method;
|
|
}
|
|
|
|
/**
|
|
* Set the anim flag
|
|
*
|
|
* @param anim Animate which frames?
|
|
*/
|
|
inline void icp6D::set_anim(int anim) {
|
|
this->anim = anim;
|
|
}
|
|
|
|
/**
|
|
* Get the maximal distance for matching
|
|
*
|
|
* @return the maximal distance for matching
|
|
*/
|
|
inline double icp6D::get_max_dist_match2() {
|
|
return max_dist_match2;
|
|
}
|
|
|
|
/**
|
|
* Set the maximal distance for matching
|
|
*
|
|
* @param max_dist_match2 the maximal distance (^2 !!!) for matching
|
|
*/
|
|
inline void icp6D::set_max_dist_match2(double max_dist_match2) {
|
|
this->max_dist_match2 = max_dist_match2;
|
|
}
|
|
|
|
/**
|
|
* Set the Maximum number of iterations
|
|
*
|
|
* @param max_num_iterations Maximum number of iterations
|
|
*/
|
|
inline void icp6D::set_max_num_iterations(int max_num_iterations) {
|
|
this->max_num_iterations = max_num_iterations;
|
|
}
|
|
|
|
/**
|
|
* @brief Enable / Disable CAD matching (i.e. matching only against first scan)
|
|
*
|
|
* @param cad_matching The new value to determine if CAD matching should
|
|
* be done
|
|
*/
|
|
inline void icp6D::set_cad_matching (bool cad_matching)
|
|
{
|
|
this->cad_matching = cad_matching;
|
|
}
|
|
|
|
inline bool icp6D::get_cad_matching (void)
|
|
{
|
|
return this->cad_matching;
|
|
}
|