33 lines
870 B
Text
33 lines
870 B
Text
/** @file
|
|
* @brief Definition of the ICP error function minimization
|
|
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
|
* @author Christian Mueller (Knut). Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#ifndef __ICP6DORTHO_H__
|
|
#define __ICP6DORTHO_H__
|
|
|
|
#include "icp6Dminimizer.h"
|
|
|
|
/**
|
|
* @brief Implementation of the ICP error function minimization via singular value decomposition
|
|
*/
|
|
class icp6D_ORTHO : public icp6Dminimizer
|
|
{
|
|
public:
|
|
/**
|
|
* Constructor
|
|
*/
|
|
icp6D_ORTHO(bool quiet = false) : icp6Dminimizer(quiet) {};
|
|
/**
|
|
* Destructor
|
|
*/
|
|
virtual ~icp6D_ORTHO() {};
|
|
|
|
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
|
|
const double centroid_m[3], const double centroid_d[3]);
|
|
|
|
inline int getAlgorithmID() { return 3; };
|
|
};
|
|
|
|
#endif
|