icpPointToPoint.h

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/*
Copyright 2011. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany

Authors: Andreas Geiger

libicp is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or any later version.

libicp is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with
libicp; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/

#ifndef ICP_POINT_TO_POINT_H
#define ICP_POINT_TO_POINT_H

#include "icp.h"

class IcpPointToPoint : public Icp {

 public:
  IcpPointToPoint(double *M, const int32_t M_num, const int32_t M_dim) : Icp(M, M_num, M_dim) {}
  virtual ~IcpPointToPoint() {}

 private:
  double fitInstant(double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector<int32_t> &active);
  double fitStep(double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector<int32_t> &active);
  std::vector<int32_t> getInliers(double *T, const int32_t T_num, const Matrix &R, const Matrix &t, const double indist);
};

#endif // ICP_POINT_TO_POINT_H