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ICP.hh
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47 //=============================================================================
48 //
49 // CLASS ICP
50 //
51 //=============================================================================
52
53
54 #ifndef ICP_HH
55 #define ICP_HH
56
63 //== INCLUDES =================================================================
64
65 #include <gmm/gmm.h>
66
67 //== FORWARDDECLARATIONS ======================================================
68
69 //== NAMESPACES ===============================================================
70
72 namespace ICP {
73
74 //== CLASS DEFINITION =========================================================
75
97 template < typename VectorT , typename QuaternionT >
98 void icp(const std::vector< VectorT >& _points1 , const std::vector< VectorT >& _points2 , VectorT& _cog1 , VectorT& _cog2 , double& _scale1 , double& _scale2 , QuaternionT& _rotation );
99
117 template < typename VectorT , typename QuaternionT >
118 void icp(const std::vector< VectorT >& _points1 , const std::vector< VectorT >& _points2 , VectorT& _cog1 , VectorT& _cog2 , QuaternionT& _rotation );
119
120 //=============================================================================
121 } //namespace ICP
122 //=============================================================================
123 #if defined(INCLUDE_TEMPLATES) && !defined(ICP_C)
124 #define ICP_TEMPLATES
125 #include "ICPT_impl.hh"
126 #endif
127 //=============================================================================
128 #endif // ICP_HH defined
129 //=============================================================================
130
VectorT
ICP
Namespace for ICP.
Definition: ICP.hh:72
ICP::icp
void icp(const std::vector< VectorT > &_points1, const std::vector< VectorT > &_points2, VectorT &_cog1, VectorT &_cog2, double &_scale1, double &_scale2, QuaternionT &_rotation)
Compute rigid transformation from first point set to second point set.
Definition: ICPT_impl.hh:85