MRICP.h

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#pragma once
 
#include <MRCMesh/MRAffineXf.h>
#include <MRCMesh/MRICPEnums.h>
#include <MRCMesh/MRId.h>
#include <MRCMesh/MRVector3.h>
#include <MRCMisc/common.h>
#include <MRCMisc/exports.h>
 
#include <stdbool.h>
#include <stddef.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct MR_BitSet MR_BitSet; // Defined in `#include <MRCMesh/MRBitSet.h>`.
typedef struct MR_MeshOrPoints MR_MeshOrPoints; // Defined in `#include <MRCMesh/MRMeshOrPoints.h>`.
typedef struct MR_MeshOrPointsXf MR_MeshOrPointsXf; // Defined in `#include <MRCMesh/MRMeshOrPoints.h>`.
typedef struct MR_PointToPlaneAligningTransform MR_PointToPlaneAligningTransform; // Defined in `#include <MRCMesh/MRPointToPlaneAligningTransform.h>`.
typedef struct MR_VertBitSet MR_VertBitSet; // Defined in `#include <MRCMesh/MRBitSet.h>`.
typedef struct MR_std_string MR_std_string; // Defined in `#include <MRCMisc/std_string.h>`.
typedef struct MR_std_vector_MR_PointPair MR_std_vector_MR_PointPair; // Defined in `#include <MRCMisc/std_vector_MR_PointPair.h>`.
 

typedef struct MR_ICPPairData MR_ICPPairData;

typedef struct MR_PointPair MR_PointPair;

typedef struct MR_IPointPairs MR_IPointPairs;

typedef struct MR_PointPairs MR_PointPairs;

typedef struct MR_NumSum MR_NumSum;

typedef struct MR_ICPProperties MR_ICPProperties;

typedef struct MR_ICP MR_ICP;

MRC_API const MR_Vector3f *MR_ICPPairData_Get_srcPoint(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_srcPoint(MR_ICPPairData *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPPairData_GetMutable_srcPoint(MR_ICPPairData *_this);

MRC_API const MR_Vector3f *MR_ICPPairData_Get_srcNorm(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_srcNorm(MR_ICPPairData *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPPairData_GetMutable_srcNorm(MR_ICPPairData *_this);

MRC_API const MR_Vector3f *MR_ICPPairData_Get_tgtPoint(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_tgtPoint(MR_ICPPairData *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPPairData_GetMutable_tgtPoint(MR_ICPPairData *_this);

MRC_API const MR_Vector3f *MR_ICPPairData_Get_tgtNorm(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_tgtNorm(MR_ICPPairData *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPPairData_GetMutable_tgtNorm(MR_ICPPairData *_this);

MRC_API const float *MR_ICPPairData_Get_distSq(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_distSq(MR_ICPPairData *_this, float value);

MRC_API float *MR_ICPPairData_GetMutable_distSq(MR_ICPPairData *_this);

MRC_API const float *MR_ICPPairData_Get_weight(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_Set_weight(MR_ICPPairData *_this, float value);

MRC_API float *MR_ICPPairData_GetMutable_weight(MR_ICPPairData *_this);

MRC_API MR_ICPPairData *MR_ICPPairData_DefaultConstruct(void);

MRC_API MR_ICPPairData *MR_ICPPairData_DefaultConstructArray(size_t num_elems);

MRC_API MR_ICPPairData *MR_ICPPairData_ConstructFrom(MR_Vector3f srcPoint, MR_Vector3f srcNorm, MR_Vector3f tgtPoint, MR_Vector3f tgtNorm, float distSq, float weight);

MRC_API const MR_ICPPairData *MR_ICPPairData_OffsetPtr(const MR_ICPPairData *ptr, ptrdiff_t i);

MRC_API MR_ICPPairData *MR_ICPPairData_OffsetMutablePtr(MR_ICPPairData *ptr, ptrdiff_t i);

MRC_API MR_ICPPairData *MR_ICPPairData_ConstructFromAnother(const MR_ICPPairData *_other);

MRC_API void MR_ICPPairData_Destroy(const MR_ICPPairData *_this);

MRC_API void MR_ICPPairData_DestroyArray(const MR_ICPPairData *_this);

MRC_API MR_ICPPairData *MR_ICPPairData_AssignFromAnother(MR_ICPPairData *_this, const MR_ICPPairData *_other);

MRC_API bool MR_equal_MR_ICPPairData(const MR_ICPPairData *_1, const MR_ICPPairData *_2);

MRC_API const MR_VertId *MR_PointPair_Get_srcVertId(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_srcVertId(MR_PointPair *_this, MR_VertId value);

MRC_API MR_VertId *MR_PointPair_GetMutable_srcVertId(MR_PointPair *_this);

MRC_API const MR_VertId *MR_PointPair_Get_tgtCloseVert(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_tgtCloseVert(MR_PointPair *_this, MR_VertId value);

MRC_API MR_VertId *MR_PointPair_GetMutable_tgtCloseVert(MR_PointPair *_this);

MRC_API const float *MR_PointPair_Get_normalsAngleCos(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_normalsAngleCos(MR_PointPair *_this, float value);

MRC_API float *MR_PointPair_GetMutable_normalsAngleCos(MR_PointPair *_this);

MRC_API const bool *MR_PointPair_Get_tgtOnBd(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_tgtOnBd(MR_PointPair *_this, bool value);

MRC_API bool *MR_PointPair_GetMutable_tgtOnBd(MR_PointPair *_this);

MRC_API const MR_Vector3f *MR_PointPair_Get_srcPoint(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_srcPoint(MR_PointPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_PointPair_GetMutable_srcPoint(MR_PointPair *_this);

MRC_API const MR_Vector3f *MR_PointPair_Get_srcNorm(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_srcNorm(MR_PointPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_PointPair_GetMutable_srcNorm(MR_PointPair *_this);

MRC_API const MR_Vector3f *MR_PointPair_Get_tgtPoint(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_tgtPoint(MR_PointPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_PointPair_GetMutable_tgtPoint(MR_PointPair *_this);

MRC_API const MR_Vector3f *MR_PointPair_Get_tgtNorm(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_tgtNorm(MR_PointPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_PointPair_GetMutable_tgtNorm(MR_PointPair *_this);

MRC_API const float *MR_PointPair_Get_distSq(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_distSq(MR_PointPair *_this, float value);

MRC_API float *MR_PointPair_GetMutable_distSq(MR_PointPair *_this);

MRC_API const float *MR_PointPair_Get_weight(const MR_PointPair *_this);

MRC_API void MR_PointPair_Set_weight(MR_PointPair *_this, float value);

MRC_API float *MR_PointPair_GetMutable_weight(MR_PointPair *_this);

MRC_API MR_PointPair *MR_PointPair_DefaultConstruct(void);

MRC_API MR_PointPair *MR_PointPair_DefaultConstructArray(size_t num_elems);

MRC_API const MR_PointPair *MR_PointPair_OffsetPtr(const MR_PointPair *ptr, ptrdiff_t i);

MRC_API MR_PointPair *MR_PointPair_OffsetMutablePtr(MR_PointPair *ptr, ptrdiff_t i);

MRC_API const MR_ICPPairData *MR_PointPair_UpcastTo_MR_ICPPairData(const MR_PointPair *object);

MRC_API MR_ICPPairData *MR_PointPair_MutableUpcastTo_MR_ICPPairData(MR_PointPair *object);

MRC_API const MR_PointPair *MR_PointPair_StaticDowncastFrom_MR_ICPPairData(const MR_ICPPairData *object);

MRC_API MR_PointPair *MR_PointPair_MutableStaticDowncastFrom_MR_ICPPairData(MR_ICPPairData *object);

MRC_API MR_PointPair *MR_PointPair_ConstructFromAnother(const MR_PointPair *_other);

MRC_API void MR_PointPair_Destroy(const MR_PointPair *_this);

MRC_API void MR_PointPair_DestroyArray(const MR_PointPair *_this);

MRC_API MR_PointPair *MR_PointPair_AssignFromAnother(MR_PointPair *_this, const MR_PointPair *_other);

MRC_API bool MR_equal_MR_PointPair(const MR_PointPair *_1, const MR_PointPair *_2);

MRC_API const MR_BitSet *MR_IPointPairs_Get_active(const MR_IPointPairs *_this);

MRC_API void MR_IPointPairs_Set_active(MR_IPointPairs *_this, MR_PassBy value_pass_by, MR_BitSet *value);

MRC_API MR_BitSet *MR_IPointPairs_GetMutable_active(MR_IPointPairs *_this);

MRC_API void MR_IPointPairs_Destroy(const MR_IPointPairs *_this);

MRC_API void MR_IPointPairs_DestroyArray(const MR_IPointPairs *_this);

MRC_API const MR_ICPPairData *MR_IPointPairs_index(const MR_IPointPairs *_this, MR_uint64_t _1);

MRC_API MR_ICPPairData *MR_IPointPairs_index_mut(MR_IPointPairs *_this, MR_uint64_t _1);

MRC_API MR_uint64_t MR_IPointPairs_size(const MR_IPointPairs *_this);

MRC_API const MR_IPointPairs *MR_IPointPairs_OffsetPtr(const MR_IPointPairs *ptr, ptrdiff_t i);

MRC_API MR_IPointPairs *MR_IPointPairs_OffsetMutablePtr(MR_IPointPairs *ptr, ptrdiff_t i);

MRC_API const MR_std_vector_MR_PointPair *MR_PointPairs_Get_vec(const MR_PointPairs *_this);

MRC_API void MR_PointPairs_Set_vec(MR_PointPairs *_this, MR_PassBy value_pass_by, MR_std_vector_MR_PointPair *value);

MRC_API MR_std_vector_MR_PointPair *MR_PointPairs_GetMutable_vec(MR_PointPairs *_this);

MRC_API const MR_BitSet *MR_PointPairs_Get_active(const MR_PointPairs *_this);

MRC_API void MR_PointPairs_Set_active(MR_PointPairs *_this, MR_PassBy value_pass_by, MR_BitSet *value);

MRC_API MR_BitSet *MR_PointPairs_GetMutable_active(MR_PointPairs *_this);

MRC_API MR_PointPairs *MR_PointPairs_DefaultConstruct(void);

MRC_API MR_PointPairs *MR_PointPairs_DefaultConstructArray(size_t num_elems);

MRC_API const MR_PointPairs *MR_PointPairs_OffsetPtr(const MR_PointPairs *ptr, ptrdiff_t i);

MRC_API MR_PointPairs *MR_PointPairs_OffsetMutablePtr(MR_PointPairs *ptr, ptrdiff_t i);

MRC_API const MR_IPointPairs *MR_PointPairs_UpcastTo_MR_IPointPairs(const MR_PointPairs *object);

MRC_API MR_IPointPairs *MR_PointPairs_MutableUpcastTo_MR_IPointPairs(MR_PointPairs *object);

MRC_API const MR_PointPairs *MR_PointPairs_StaticDowncastFrom_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_PointPairs *MR_PointPairs_MutableStaticDowncastFrom_MR_IPointPairs(MR_IPointPairs *object);

MRC_API const MR_PointPairs *MR_PointPairs_DynamicDowncastFrom_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_PointPairs *MR_PointPairs_MutableDynamicDowncastFrom_MR_IPointPairs(MR_IPointPairs *object);

MRC_API const MR_PointPairs *MR_PointPairs_DynamicDowncastFromOrFail_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_PointPairs *MR_PointPairs_MutableDynamicDowncastFromOrFail_MR_IPointPairs(MR_IPointPairs *object);

MRC_API MR_PointPairs *MR_PointPairs_ConstructFromAnother(MR_PassBy _other_pass_by, MR_PointPairs *_other);

MRC_API void MR_PointPairs_Destroy(const MR_PointPairs *_this);

MRC_API void MR_PointPairs_DestroyArray(const MR_PointPairs *_this);

MRC_API MR_PointPairs *MR_PointPairs_AssignFromAnother(MR_PointPairs *_this, MR_PassBy _other_pass_by, MR_PointPairs *_other);

MRC_API const MR_ICPPairData *MR_PointPairs_index(const MR_PointPairs *_this, MR_uint64_t idx);

MRC_API MR_ICPPairData *MR_PointPairs_index_mut(MR_PointPairs *_this, MR_uint64_t idx);

MRC_API MR_uint64_t MR_PointPairs_size(const MR_PointPairs *_this);

MRC_API MR_uint64_t MR_getNumSamples(const MR_IPointPairs *pairs);

MRC_API MR_uint64_t MR_getNumActivePairs(const MR_IPointPairs *pairs);

MRC_API const int *MR_NumSum_Get_num(const MR_NumSum *_this);

MRC_API void MR_NumSum_Set_num(MR_NumSum *_this, int value);

MRC_API int *MR_NumSum_GetMutable_num(MR_NumSum *_this);

MRC_API const double *MR_NumSum_Get_sum(const MR_NumSum *_this);

MRC_API void MR_NumSum_Set_sum(MR_NumSum *_this, double value);

MRC_API double *MR_NumSum_GetMutable_sum(MR_NumSum *_this);

MRC_API MR_NumSum *MR_NumSum_DefaultConstruct(void);

MRC_API MR_NumSum *MR_NumSum_DefaultConstructArray(size_t num_elems);

MRC_API MR_NumSum *MR_NumSum_ConstructFrom(int num, double sum);

MRC_API const MR_NumSum *MR_NumSum_OffsetPtr(const MR_NumSum *ptr, ptrdiff_t i);

MRC_API MR_NumSum *MR_NumSum_OffsetMutablePtr(MR_NumSum *ptr, ptrdiff_t i);

MRC_API MR_NumSum *MR_NumSum_ConstructFromAnother(const MR_NumSum *_other);

MRC_API void MR_NumSum_Destroy(const MR_NumSum *_this);

MRC_API void MR_NumSum_DestroyArray(const MR_NumSum *_this);

MRC_API MR_NumSum *MR_NumSum_AssignFromAnother(MR_NumSum *_this, const MR_NumSum *_other);

MRC_API float MR_NumSum_rootMeanSqF(const MR_NumSum *_this);

MRC_API MR_NumSum *MR_add_MR_NumSum(const MR_NumSum *a, const MR_NumSum *b);

MRC_API MR_NumSum *MR_getSumSqDistToPoint(const MR_IPointPairs *pairs, const double *inaccuracy);

MRC_API MR_NumSum *MR_getSumSqDistToPlane(const MR_IPointPairs *pairs, const double *inaccuracy);

MRC_API float MR_getMeanSqDistToPoint(const MR_IPointPairs *pairs);

MRC_API float MR_getMeanSqDistToPlane(const MR_IPointPairs *pairs);

MRC_API MR_std_string *MR_getICPStatusInfo(int iterations, MR_ICPExitType exitType);

MRC_API MR_AffineXf3d MR_getAligningXf(const MR_PointToPlaneAligningTransform *p2pl, MR_ICPMode mode, float angleLimit, float scaleLimit, const MR_Vector3f *fixedRotationAxis);

MRC_API const MR_ICPMethod *MR_ICPProperties_Get_method(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_method(MR_ICPProperties *_this, MR_ICPMethod value);

MRC_API MR_ICPMethod *MR_ICPProperties_GetMutable_method(MR_ICPProperties *_this);
 
// [radians]
MRC_API const float *MR_ICPProperties_Get_p2plAngleLimit(const MR_ICPProperties *_this);
 
// [radians]
MRC_API void MR_ICPProperties_Set_p2plAngleLimit(MR_ICPProperties *_this, float value);
 
// [radians]
MRC_API float *MR_ICPProperties_GetMutable_p2plAngleLimit(MR_ICPProperties *_this);

MRC_API const float *MR_ICPProperties_Get_p2plScaleLimit(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_p2plScaleLimit(MR_ICPProperties *_this, float value);

MRC_API float *MR_ICPProperties_GetMutable_p2plScaleLimit(MR_ICPProperties *_this);
 
// in [-1,1]
MRC_API const float *MR_ICPProperties_Get_cosThreshold(const MR_ICPProperties *_this);
 
// in [-1,1]
MRC_API void MR_ICPProperties_Set_cosThreshold(MR_ICPProperties *_this, float value);
 
// in [-1,1]
MRC_API float *MR_ICPProperties_GetMutable_cosThreshold(MR_ICPProperties *_this);
 
// [distance^2]
MRC_API const float *MR_ICPProperties_Get_distThresholdSq(const MR_ICPProperties *_this);
 
// [distance^2]
MRC_API void MR_ICPProperties_Set_distThresholdSq(MR_ICPProperties *_this, float value);
 
// [distance^2]
MRC_API float *MR_ICPProperties_GetMutable_distThresholdSq(MR_ICPProperties *_this);
 
// dimensionless
MRC_API const float *MR_ICPProperties_Get_farDistFactor(const MR_ICPProperties *_this);
 
// dimensionless
MRC_API void MR_ICPProperties_Set_farDistFactor(MR_ICPProperties *_this, float value);
 
// dimensionless
MRC_API float *MR_ICPProperties_GetMutable_farDistFactor(MR_ICPProperties *_this);

MRC_API const MR_ICPMode *MR_ICPProperties_Get_icpMode(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_icpMode(MR_ICPProperties *_this, MR_ICPMode value);

MRC_API MR_ICPMode *MR_ICPProperties_GetMutable_icpMode(MR_ICPProperties *_this);

MRC_API const MR_Vector3f *MR_ICPProperties_Get_fixedRotationAxis(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_fixedRotationAxis(MR_ICPProperties *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPProperties_GetMutable_fixedRotationAxis(MR_ICPProperties *_this);

MRC_API const int *MR_ICPProperties_Get_iterLimit(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_iterLimit(MR_ICPProperties *_this, int value);

MRC_API int *MR_ICPProperties_GetMutable_iterLimit(MR_ICPProperties *_this);

MRC_API const int *MR_ICPProperties_Get_badIterStopCount(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_badIterStopCount(MR_ICPProperties *_this, int value);

MRC_API int *MR_ICPProperties_GetMutable_badIterStopCount(MR_ICPProperties *_this);
 
// [distance]
MRC_API const float *MR_ICPProperties_Get_exitVal(const MR_ICPProperties *_this);
 
// [distance]
MRC_API void MR_ICPProperties_Set_exitVal(MR_ICPProperties *_this, float value);
 
// [distance]
MRC_API float *MR_ICPProperties_GetMutable_exitVal(MR_ICPProperties *_this);

MRC_API const bool *MR_ICPProperties_Get_mutualClosest(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_Set_mutualClosest(MR_ICPProperties *_this, bool value);

MRC_API bool *MR_ICPProperties_GetMutable_mutualClosest(MR_ICPProperties *_this);

MRC_API MR_ICPProperties *MR_ICPProperties_DefaultConstruct(void);

MRC_API MR_ICPProperties *MR_ICPProperties_DefaultConstructArray(size_t num_elems);

MRC_API MR_ICPProperties *MR_ICPProperties_ConstructFrom(MR_ICPMethod method, float p2plAngleLimit, float p2plScaleLimit, float cosThreshold, float distThresholdSq, float farDistFactor, MR_ICPMode icpMode, MR_Vector3f fixedRotationAxis, int iterLimit, int badIterStopCount, float exitVal, bool mutualClosest);

MRC_API const MR_ICPProperties *MR_ICPProperties_OffsetPtr(const MR_ICPProperties *ptr, ptrdiff_t i);

MRC_API MR_ICPProperties *MR_ICPProperties_OffsetMutablePtr(MR_ICPProperties *ptr, ptrdiff_t i);

MRC_API MR_ICPProperties *MR_ICPProperties_ConstructFromAnother(const MR_ICPProperties *_other);

MRC_API void MR_ICPProperties_Destroy(const MR_ICPProperties *_this);

MRC_API void MR_ICPProperties_DestroyArray(const MR_ICPProperties *_this);

MRC_API MR_ICPProperties *MR_ICPProperties_AssignFromAnother(MR_ICPProperties *_this, const MR_ICPProperties *_other);

MRC_API MR_uint64_t MR_deactivateFarPairs(MR_IPointPairs *pairs, float maxDistSq);

MRC_API void MR_updatePointPairs(MR_PointPairs *pairs, const MR_MeshOrPointsXf *src, const MR_MeshOrPointsXf *tgt, float cosThreshold, float distThresholdSq, bool mutualClosest);

MRC_API MR_ICP *MR_ICP_ConstructFromAnother(MR_PassBy _other_pass_by, MR_ICP *_other);

MRC_API const MR_ICP *MR_ICP_OffsetPtr(const MR_ICP *ptr, ptrdiff_t i);

MRC_API MR_ICP *MR_ICP_OffsetMutablePtr(MR_ICP *ptr, ptrdiff_t i);

MRC_API MR_ICP *MR_ICP_Construct_6(const MR_MeshOrPoints *flt, const MR_MeshOrPoints *ref, const MR_AffineXf3f *fltXf, const MR_AffineXf3f *refXf, const MR_VertBitSet *fltSamples, const MR_VertBitSet *refSamples);

MRC_API MR_ICP *MR_ICP_Construct_4(const MR_MeshOrPointsXf *flt, const MR_MeshOrPointsXf *ref, const MR_VertBitSet *fltSamples, const MR_VertBitSet *refSamples);

MRC_API MR_ICP *MR_ICP_Construct_5(const MR_MeshOrPoints *flt, const MR_MeshOrPoints *ref, const MR_AffineXf3f *fltXf, const MR_AffineXf3f *refXf, float samplingVoxelSize);

MRC_API MR_ICP *MR_ICP_Construct_3(const MR_MeshOrPointsXf *flt, const MR_MeshOrPointsXf *ref, float samplingVoxelSize);

MRC_API void MR_ICP_Destroy(const MR_ICP *_this);

MRC_API void MR_ICP_DestroyArray(const MR_ICP *_this);

MRC_API MR_ICP *MR_ICP_AssignFromAnother(MR_ICP *_this, MR_PassBy _other_pass_by, MR_ICP *_other);

MRC_API void MR_ICP_setParams(MR_ICP *_this, const MR_ICPProperties *prop);

MRC_API void MR_ICP_setCosineLimit(MR_ICP *_this, float cos);

MRC_API void MR_ICP_setDistanceLimit(MR_ICP *_this, float dist);

MRC_API void MR_ICP_setBadIterCount(MR_ICP *_this, int iter);

MRC_API void MR_ICP_setFarDistFactor(MR_ICP *_this, float factor);

MRC_API void MR_ICP_setFltSamples(MR_ICP *_this, const MR_VertBitSet *fltSamples);

MRC_API void MR_ICP_sampleFltPoints(MR_ICP *_this, float samplingVoxelSize);

MRC_API void MR_ICP_setRefSamples(MR_ICP *_this, const MR_VertBitSet *refSamples);

MRC_API void MR_ICP_sampleRefPoints(MR_ICP *_this, float samplingVoxelSize);

MRC_API void MR_ICP_samplePoints(MR_ICP *_this, float samplingVoxelSize);

MRC_API void MR_ICP_setXfs(MR_ICP *_this, const MR_AffineXf3f *fltXf, const MR_AffineXf3f *refXf);

MRC_API void MR_ICP_setFloatXf(MR_ICP *_this, const MR_AffineXf3f *fltXf);

MRC_API MR_AffineXf3f MR_ICP_autoSelectFloatXf(MR_ICP *_this);

MRC_API void MR_ICP_updatePointPairs(MR_ICP *_this);

MRC_API const MR_ICPProperties *MR_ICP_getParams(const MR_ICP *_this);

MRC_API MR_std_string *MR_ICP_getStatusInfo(const MR_ICP *_this);

MRC_API MR_uint64_t MR_ICP_getNumSamples(const MR_ICP *_this);

MRC_API MR_uint64_t MR_ICP_getNumActivePairs(const MR_ICP *_this);

MRC_API float MR_ICP_getMeanSqDistToPoint(const MR_ICP *_this);

MRC_API float MR_ICP_getMeanSqDistToPlane(const MR_ICP *_this);

MRC_API const MR_PointPairs *MR_ICP_getFlt2RefPairs(const MR_ICP *_this);

MRC_API const MR_PointPairs *MR_ICP_getRef2FltPairs(const MR_ICP *_this);

MRC_API MR_AffineXf3f MR_ICP_calculateTransformation(MR_ICP *_this);
 
#ifdef __cplusplus
} // extern "C"
#endif