3dpcp/.svn/pristine/77/776206c13993ea83a927309d004fdc1c93e6aec9.svn-base
2012-09-16 14:33:11 +02:00

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/** @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