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xregPairedPointRegi3D3D.h
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xregPairedPointRegi3D3D.h
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/*
* MIT License
*
* Copyright (c) 2020 Robert Grupp
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef XREGPAIREDPOINTREGI3D3D_H_
#define XREGPAIREDPOINTREGI3D3D_H_
#include "xregCommon.h"
namespace xreg
{
/**
* @brief Computes "optimal" rigid/similarity transformation between two point clouds
* with correspondence.
*
* This is an implementation of Horn's Quaternion Method.
* This routine is threaded.
* @param pts1 Point cloud 1
* @param pts2 Point cloud 2
* @param xform The computed transformation from the pts1 into pts2
* @param scale (optional) Scale factor to force, if less than,
* or equal to, zero then the scale factor is computed automatically
**/
FrameTransform PairedPointRegi3D3D(const Pt3List& pts1, const Pt3List& pts2, const CoordScalar scale = CoordScalar(1));
FrameTransform PairedPointRegi3D3D(const LandMap3& pts1, const LandMap3& pts2, const CoordScalar scale = CoordScalar(1));
} // xreg
#endif