103 template <
typename VectorT ,
typename QuaternionT >
104 void icp(
const std::vector< VectorT >& _points1 ,
const std::vector< VectorT >& _points2 ,
VectorT& _cog1 ,
VectorT& _cog2 ,
double& _scale1 ,
double& _scale2 , QuaternionT& _rotation );
123 template <
typename VectorT ,
typename QuaternionT >
124 void icp(
const std::vector< VectorT >& _points1 ,
const std::vector< VectorT >& _points2 ,
VectorT& _cog1 ,
VectorT& _cog2 , QuaternionT& _rotation );
129 #if defined(INCLUDE_TEMPLATES) && !defined(ICP_C)
130 #define ICP_TEMPLATES
134 #endif // ICP_HH defined
void icp(const std::vector< VectorT > &_points1, const std::vector< VectorT > &_points2, VectorT &_cog1, VectorT &_cog2, double &_scale1, double &_scale2, QuaternionT &_rotation)
Compute rigid transformation from first point set to second point set.