MRICPEnums.h File Reference

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Typedefs
typedef enum MR_ICPMethod	MR_ICPMethod
	The method how to update transformation from point pairs.
typedef enum MR_ICPMode	MR_ICPMode
	The group of transformations, each with its own degrees of freedom.
typedef enum MR_ICPExitType	MR_ICPExitType

Enumerations
enum	MR_ICPMethod { MR_ICPMethod_Combined = 0 , MR_ICPMethod_PointToPoint = 1 , MR_ICPMethod_PointToPlane = 2 }
	The method how to update transformation from point pairs. More...
enum	MR_ICPMode {   MR_ICPMode_RigidScale = 0 , MR_ICPMode_AnyRigidXf = 1 , MR_ICPMode_OrthogonalAxis = 2 , MR_ICPMode_FixedAxis = 3 ,   MR_ICPMode_TranslationOnly = 4 }
	The group of transformations, each with its own degrees of freedom. More...
enum	MR_ICPExitType {   MR_ICPExitType_NotStarted = 0 , MR_ICPExitType_NotFoundSolution = 1 , MR_ICPExitType_MaxIterations = 2 , MR_ICPExitType_MaxBadIterations = 3 ,   MR_ICPExitType_StopMsdReached = 4 }

Typedef Documentation

MR_ICPExitType

typedef enum MR_ICPExitType MR_ICPExitType

MR_ICPMethod

typedef enum MR_ICPMethod MR_ICPMethod

The method how to update transformation from point pairs.

MR_ICPMode

typedef enum MR_ICPMode MR_ICPMode

The group of transformations, each with its own degrees of freedom.

Enumeration Type Documentation

MR_ICPExitType

enum MR_ICPExitType

Enumerator
MR_ICPExitType_NotStarted
MR_ICPExitType_NotFoundSolution
MR_ICPExitType_MaxIterations
MR_ICPExitType_MaxBadIterations
MR_ICPExitType_StopMsdReached

MR_ICPMethod

enum MR_ICPMethod

The method how to update transformation from point pairs.

Enumerator
MR_ICPMethod_Combined	PointToPoint for the first 2 iterations, and PointToPlane for the remaining iterations. select transformation that minimizes mean squared distance between two points in each pair, it is the safest approach but can converge slowly
MR_ICPMethod_PointToPoint	select transformation that minimizes mean squared distance between a point and a plane via the other point in each pair, converge much faster than PointToPoint in case of many good (with not all points/normals in one plane) pairs This mode only works correctly if the object that points are being projected onto has normals information (is not a point clouds without normals). By default both objects are projected onto each other, so at least one of them must have normals, unless you change the settings to only project one way (using MR::ICP::setFltSamples() or MR::ICP::setRefSamples()), in which case the object being projected onto must have normals.
MR_ICPMethod_PointToPlane

MR_ICPMode

enum MR_ICPMode

The group of transformations, each with its own degrees of freedom.

Enumerator
MR_ICPMode_RigidScale	rigid body transformation with uniform scaling (7 degrees of freedom) rigid body transformation (6 degrees of freedom)
MR_ICPMode_AnyRigidXf	rigid body transformation with rotation except argument axis (5 degrees of freedom)
MR_ICPMode_OrthogonalAxis	rigid body transformation with rotation around given axis only (4 degrees of freedom)
MR_ICPMode_FixedAxis	only translation (3 degrees of freedom)
MR_ICPMode_TranslationOnly