niftkLiuLeastSquaresWithNormalsRegistration.h

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/*=============================================================================

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.

  See LICENSE.txt in the top level directory for details.

=============================================================================*/

#ifndef niftkLiuLeastSquaresWithNormalsRegistration_h
#define niftkLiuLeastSquaresWithNormalsRegistration_h

#include <niftkPointRegExports.h>

#include <cv.h>
#include <mitkPointSet.h>
#include <vtkMatrix4x4.h>

namespace niftk {

extern "C++" NIFTKPOINTREG_EXPORT
double PointAndNormalBasedRegistrationUsingSVD(const std::vector<cv::Point3d>& fixedPoints,
                                               const std::vector<cv::Point3d>& fixedNormals,
                                               const std::vector<cv::Point3d>& movingPoints,
                                               const std::vector<cv::Point3d>& movingNormals,
                                               cv::Matx44d& outputMatrix);


extern "C++" NIFTKPOINTREG_EXPORT
double PointAndNormalBasedRegistrationUsingSVD(const mitk::PointSet::Pointer fixedPoints,
                                               const mitk::PointSet::Pointer fixedNormals,
                                               const mitk::PointSet::Pointer movingPoints,
                                               const mitk::PointSet::Pointer movingNormals,
                                               vtkMatrix4x4& matrix);

} // end namespace

#endif