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/*************************************************************


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GeneralizedICP Copyright (c) 2009 Aleksandr Segal.

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All rights reserved.

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Redistribution and use in source and binary forms, with

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or without modification, are permitted provided that the

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following conditions are met:

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* Redistributions of source code must retain the above

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copyright notice, this list of conditions and the

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following disclaimer.

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* Redistributions in binary form must reproduce the above

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copyright notice, this list of conditions and the

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following disclaimer in the documentation and/or other

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materials provided with the distribution.

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* The names of the contributors may not be used to endorse

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or promote products derived from this software

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without specific prior written permission.

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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

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CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED

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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A

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PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

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COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,

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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,

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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE

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OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

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DAMAGE.

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*************************************************************/

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#ifndef GICP_H_

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#define GICP_H_

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#include <ANN/ANN.h> 
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#include <vector> 
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#include <iostream> 
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//#include <gsl/gsl.h>

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#include <semaphore.h> 
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#include "transform.h" 
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namespace dgc { 
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namespace gicp { 
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typedef double gicp_mat_t[3][3]; 
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struct GICPPoint {

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double x, y, z;

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float range;

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gicp_mat_t C; // covariance matrix

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}; 
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class GICPPointSet { 
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public:

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GICPPointSet(); 
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~GICPPointSet(); 
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void BuildKDTree();

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void ComputeMatrices();

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void SavePoints(const char *filename); 
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void SaveMatrices(const char *filename); 
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int NumPoints() { return (int)point_.size(); } 
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void Clear(void); 
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int Size() { return point_.size(); } 
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inline void AppendPoint(GICPPoint const & pt) { point_.push_back(pt); } 
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void SetMaxIteration(int iter) { max_iteration_ = iter; } 
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void SetMaxIterationInner(int iter) { max_iteration_inner_ = iter; } 
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void SetEpsilon(double eps) { epsilon_ = eps; } 
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void SetSolveRotation(bool s) { solve_rotation_ = s; } 
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void SetGICPEpsilon(double eps) { gicp_epsilon_ = eps; } 
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void SetDebug(bool d) { debug_ = d; } 
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GICPPoint & operator[](int i) { return point_[i]; } 
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GICPPoint const& operator[](int i) const { return point_[i]; } 
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// returns number of iterations it took to converge

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int AlignScan(GICPPointSet *scan, dgc_transform_t base_t, dgc_transform_t t, double max_match_dist, bool save_error_plot = 0); 
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private:

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std::vector <GICPPoint> point_; 
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ANNpointArray kdtree_points_; 
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ANNkd_tree *kdtree_; 
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int max_iteration_;

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int max_iteration_inner_;

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double epsilon_;

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double epsilon_rot_;

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double gicp_epsilon_;

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bool debug_;

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bool solve_rotation_;

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bool matrices_done_;

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bool kdtree_done_;

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pthread_mutex_t mutex_; 
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}; 
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} 
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} 
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#endif
