icpCore.h File Reference

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Classes
struct	ICP2DCoordT
struct	ICP3DCoordT
struct	ICP2DLineT
struct	ICP2DLineSegT
struct	ICP3DLineSegT

Macros
#define	ICP_EXTERN
#define	M_PI   3.14159265358979323846F
#define	ICP_DEBUG   0
#define	ICP_MAX_LOOP   10
#define	ICP_BREAK_LOOP_ERROR_THRESH   0.1F
#define	ICP_BREAK_LOOP_ERROR_RATIO_THRESH   0.99F
#define	ICP_BREAK_LOOP_ERROR_THRESH2   4.0F
#define	ICP_INLIER_PROBABILITY   0.50F

Functions
int	icpGetXc_from_Xw_by_MatXw2Xc (ICP3DCoordT *Xc, ARdouble matXw2Xc[3][4], ICP3DCoordT *Xw)
int	icpGetU_from_X_by_MatX2U (ICP2DCoordT *u, ARdouble matX2U[3][4], ICP3DCoordT *coord3d)
int	icpGetJ_U_S (ARdouble J_U_S[2][6], ARdouble matXc2U[3][4], ARdouble matXw2Xc[3][4], ICP3DCoordT *worldCoord)
int	icpGetDeltaS (ARdouble S[6], ARdouble dU[], ARdouble J_U_S[][6], int n)
int	icpUpdateMat (ARdouble matXw2Xc[3][4], ARdouble dS[6])

Macro Definition Documentation

ICP_BREAK_LOOP_ERROR_RATIO_THRESH

#define ICP_BREAK_LOOP_ERROR_RATIO_THRESH   0.99F

ICP_BREAK_LOOP_ERROR_THRESH

#define ICP_BREAK_LOOP_ERROR_THRESH   0.1F

ICP_BREAK_LOOP_ERROR_THRESH2

#define ICP_BREAK_LOOP_ERROR_THRESH2   4.0F

ICP_DEBUG

#define ICP_DEBUG   0

ICP_EXTERN

#define ICP_EXTERN

ICP_INLIER_PROBABILITY

#define ICP_INLIER_PROBABILITY   0.50F

ICP_MAX_LOOP

#define ICP_MAX_LOOP   10

M_PI

#define M_PI   3.14159265358979323846F

Function Documentation

icpGetDeltaS()

int icpGetDeltaS	(	ARdouble	S[6],
		ARdouble	dU[],
		ARdouble	J_U_S[][6],
		int	n )

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icpGetJ_U_S()

int icpGetJ_U_S	(	ARdouble	J_U_S[2][6],
		ARdouble	matXc2U[3][4],
		ARdouble	matXw2Xc[3][4],
		ICP3DCoordT *	worldCoord )

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icpGetU_from_X_by_MatX2U()

int icpGetU_from_X_by_MatX2U	(	ICP2DCoordT *	u,
		ARdouble	matX2U[3][4],
		ICP3DCoordT *	coord3d )

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icpGetXc_from_Xw_by_MatXw2Xc()

int icpGetXc_from_Xw_by_MatXw2Xc	(	ICP3DCoordT *	Xc,
		ARdouble	matXw2Xc[3][4],
		ICP3DCoordT *	Xw )

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icpUpdateMat()

int icpUpdateMat	(	ARdouble	matXw2Xc[3][4],
		ARdouble	dS[6] )

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