ICP3D.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/ICP3D.h                            **
** Module : ICLGeom                                                **
** Authors: Tobias Roehlig                                         **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
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** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/Uncopyable.h>
#include <ICLMath/Octree.h>
#include <ICLMath/HomogeneousMath.h>

namespace icl {
        namespace geom {

                class ICLGeom_API ICP3D : public utils::Uncopyable {

                public:

                        struct Result {
                                Result();
                                math::Mat4 transformation;
                                icl64f error;
                                uint32_t iterations;
                        };

                        typedef icl::math::FixedColVector<icl32f,4> ICP3DVec;

                        ICP3D(uint32_t const iterations = 10,
                                  icl32f const max_distance = 1.0f,
                                  icl64f const errorDelat = 0.01f);

                        void build(std::vector<ICP3DVec> const &target,
                                           icl32f const &min, icl32f const &len);

                        void build(std::vector<ICP3DVec> const &target,
                                           icl32f const &minX, icl32f const &minY, icl32f const &minZ,
                                           icl32f const &width, icl32f const &height, icl32f const &depth);

                        Result apply(std::vector<ICP3DVec> const &source,
                                                 std::vector<ICP3DVec> &out);

                        Result apply(std::vector<ICP3DVec> const &target,
                                                 std::vector<ICP3DVec> const &source,
                                                 std::vector<ICP3DVec> &out,
                                                 icl32f const &min, icl32f const &len);

                        Result apply(std::vector<ICP3DVec> const &target,
                                                 std::vector<ICP3DVec> const &source,
                                                 std::vector<ICP3DVec> &out,
                                                 icl32f const &minX, icl32f const &minY, icl32f const &minZ,
                                                 icl32f const &width, icl32f const &height, icl32f const &depth);

                        virtual
                        ~ICP3D();

                        void setMaxDistance(icl32f const dist) { maxDist = dist; }
                        icl32f getMaxDistance() { return maxDist; }

                        void setErrorDeltaTh(icl64f const th) { errorDeltaTh = th; }
                        icl64f getErrorDeltaTh() { return errorDeltaTh; }

                        void setMaximumIterations(uint32_t const iterations) { maxIterations = iterations; }
                        uint32_t getMaximumIterations() { return maxIterations; }

                        std::vector<ICP3DVec> const &getTarget() { return m_target; }

                        uint32_t maxIterations;
                        icl32f maxDist;
                        icl64f errorDeltaTh;

                        math::Octree<icl32f,16,1,ICP3DVec> *octree;
                        std::vector<ICP3DVec> m_target;

                }; // class ICP3D
        } // namespace geom
} // namespace icl