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| #ifndef FRICP_H |
| #define FRICP_H |
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| #include <AndersonAcceleration.h> |
| #define TUPLE_SCALE 0.95 |
| #define TUPLE_MAX_CNT 1000 |
| #include "registration.h" |
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| class RigidFricpRegistration:public Registration |
| { |
| public: |
| RigidFricpRegistration(){}; |
| ~RigidFricpRegistration(){}; |
| std::string file_init_ ; |
| VectorN source_mean_, target_mean_; |
| double time; |
| ICP::Parameters pars; |
| void use_init_transform(bool a); |
| AffineMatrix3 LogMatrix(const AffineMatrix3& T); |
| Affine3d point_to_point(Matrix3X& X, |
| Matrix3X& Y, |
| const VectorX& w) ; |
| Eigen::Affine3d point_to_plane(Eigen::Matrix3Xd& X, |
| Eigen::Matrix3Xd& Y, |
| const Eigen::Matrix3Xd& Norm, |
| const Eigen::VectorXd& w, |
| const Eigen::VectorXd& u) ; |
| void point_to_point(Matrix3X& X, Matrix3X& Y,Matrix3X& Z, Vector3& source_mean_, |
| Vector3& target_mean_, ICP::Parameters& par); |
| void point_to_plane(Eigen::Matrix3Xd& X, |
| Eigen::Matrix3Xd& Y, Eigen::Matrix3Xd& norm_x, Eigen::Matrix3Xd& norm_y, |
| Eigen::Vector3d& source_mean_, Eigen::Vector3d& target_mean_, |
| ICP::Parameters &par) ; |
| void Paras_init(bool useinit =false,std::string fileinit=" ",int maxiter=100,double stop=1e-5); |
| void Register()override; |
| void Reg(const std::string& file_target, |
| const std::string& file_source, |
| const std::string& out_path)override; |
| }; |
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| #endif |
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