IterativeClosestPoint.hpp

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#ifndef ITERATIVE_CLOSEST_POINT_HPP
#define ITERATIVE_CLOSEST_POINT_HPP
 
#include "FAST/AffineTransformation.hpp"
#include "FAST/ProcessObject.hpp"
#include "FAST/Data/Mesh.hpp"
 
namespace fast {
 
class FAST_EXPORT  IterativeClosestPoint : public ProcessObject {
    FAST_OBJECT(IterativeClosestPoint)
    public:
        typedef enum { RIGID, TRANSLATION } TransformationType;
        void setFixedMeshPort(DataChannel::pointer port);
        void setFixedMesh(Mesh::pointer data);
        void setMovingMeshPort(DataChannel::pointer port);
        void setMovingMesh(Mesh::pointer data);
        void setTransformationType(const IterativeClosestPoint::TransformationType type);
        AffineTransformation::pointer getOutputTransformation();
        float getError() const;
        void setMinimumErrorChange(float errorChange);
        void setMaximumNrOfIterations(uint iterations);
        void setRandomPointSampling(uint nrOfPointsToSample);
        void setDistanceThreshold(float distance);
    private:
        IterativeClosestPoint();
        void execute();
 
        float mMinErrorChange;
        uint mMaxIterations;
        int mRandomSamplingPoints;
        float mDistanceThreshold;
        float mError;
        AffineTransformation::pointer mTransformation;
        IterativeClosestPoint::TransformationType mTransformationType;
};
 
} // end namespace fast
 
#endif