MRMultiwayAligningTransform.h File Reference

#include <MRCMisc/common.h>
#include <MRCMisc/exports.h>
#include <stddef.h>
#include <stdint.h>

Go to the source code of this file.

Typedefs
typedef struct MR_Vector3d	MR_Vector3d
typedef struct MR_Vector3f	MR_Vector3f
typedef struct MR_std_vector_MR_RigidXf3d	MR_std_vector_MR_RigidXf3d
typedef struct MR_MultiwayAligningTransform	MR_MultiwayAligningTransform
typedef struct MR_MultiwayAligningTransform_Stabilizer	MR_MultiwayAligningTransform_Stabilizer

Functions
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_DefaultConstruct (void)
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_DefaultConstructArray (size_t num_elems)
MRC_API const MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_OffsetPtr (const MR_MultiwayAligningTransform *ptr, ptrdiff_t i)
	Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_OffsetMutablePtr (MR_MultiwayAligningTransform *ptr, ptrdiff_t i)
	Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_ConstructFromAnother (MR_PassBy _other_pass_by, MR_MultiwayAligningTransform *_other)
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_Construct (int32_t numObjs)
MRC_API void	MR_MultiwayAligningTransform_Destroy (const MR_MultiwayAligningTransform *_this)
	Destroys a heap-allocated instance of MR_MultiwayAligningTransform. Does nothing if the pointer is null.
MRC_API void	MR_MultiwayAligningTransform_DestroyArray (const MR_MultiwayAligningTransform *_this)
	Destroys a heap-allocated array of MR_MultiwayAligningTransform. Does nothing if the pointer is null.
MRC_API MR_MultiwayAligningTransform *	MR_MultiwayAligningTransform_AssignFromAnother (MR_MultiwayAligningTransform *_this, MR_PassBy _other_pass_by, MR_MultiwayAligningTransform *_other)
MRC_API void	MR_MultiwayAligningTransform_reset (MR_MultiwayAligningTransform *_this, int32_t numObjs)
MRC_API void	MR_MultiwayAligningTransform_add_5_MR_Vector3d (MR_MultiwayAligningTransform *_this, int32_t objA, const MR_Vector3d *pA, int32_t objB, const MR_Vector3d *pB, const double *w)
MRC_API void	MR_MultiwayAligningTransform_add_5_MR_Vector3f (MR_MultiwayAligningTransform *_this, int32_t objA, const MR_Vector3f *pA, int32_t objB, const MR_Vector3f *pB, const float *w)
MRC_API void	MR_MultiwayAligningTransform_add_6_MR_Vector3d (MR_MultiwayAligningTransform *_this, int32_t objA, const MR_Vector3d *pA, int32_t objB, const MR_Vector3d *pB, const MR_Vector3d *n, const double *w)
MRC_API void	MR_MultiwayAligningTransform_add_6_MR_Vector3f (MR_MultiwayAligningTransform *_this, int32_t objA, const MR_Vector3f *pA, int32_t objB, const MR_Vector3f *pB, const MR_Vector3f *n, const float *w)
MRC_API void	MR_MultiwayAligningTransform_add_1 (MR_MultiwayAligningTransform *_this, const MR_MultiwayAligningTransform *r)
MRC_API MR_std_vector_MR_RigidXf3d *	MR_MultiwayAligningTransform_solve_1 (const MR_MultiwayAligningTransform *_this, const MR_MultiwayAligningTransform_Stabilizer *stab)
MRC_API MR_std_vector_MR_RigidXf3d *	MR_MultiwayAligningTransform_solve_0 (const MR_MultiwayAligningTransform *_this)
MRC_API const double *	MR_MultiwayAligningTransform_Stabilizer_Get_rot (const MR_MultiwayAligningTransform_Stabilizer *_this)
MRC_API void	MR_MultiwayAligningTransform_Stabilizer_Set_rot (MR_MultiwayAligningTransform_Stabilizer *_this, double value)
MRC_API double *	MR_MultiwayAligningTransform_Stabilizer_GetMutable_rot (MR_MultiwayAligningTransform_Stabilizer *_this)
MRC_API const double *	MR_MultiwayAligningTransform_Stabilizer_Get_shift (const MR_MultiwayAligningTransform_Stabilizer *_this)
MRC_API void	MR_MultiwayAligningTransform_Stabilizer_Set_shift (MR_MultiwayAligningTransform_Stabilizer *_this, double value)
MRC_API double *	MR_MultiwayAligningTransform_Stabilizer_GetMutable_shift (MR_MultiwayAligningTransform_Stabilizer *_this)
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_DefaultConstruct (void)
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_DefaultConstructArray (size_t num_elems)
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_ConstructFrom (double rot, double shift)
MRC_API const MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_OffsetPtr (const MR_MultiwayAligningTransform_Stabilizer *ptr, ptrdiff_t i)
	Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_OffsetMutablePtr (MR_MultiwayAligningTransform_Stabilizer *ptr, ptrdiff_t i)
	Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_ConstructFromAnother (const MR_MultiwayAligningTransform_Stabilizer *_other)
MRC_API void	MR_MultiwayAligningTransform_Stabilizer_Destroy (const MR_MultiwayAligningTransform_Stabilizer *_this)
	Destroys a heap-allocated instance of MR_MultiwayAligningTransform_Stabilizer. Does nothing if the pointer is null.
MRC_API void	MR_MultiwayAligningTransform_Stabilizer_DestroyArray (const MR_MultiwayAligningTransform_Stabilizer *_this)
	Destroys a heap-allocated array of MR_MultiwayAligningTransform_Stabilizer. Does nothing if the pointer is null.
MRC_API MR_MultiwayAligningTransform_Stabilizer *	MR_MultiwayAligningTransform_Stabilizer_AssignFromAnother (MR_MultiwayAligningTransform_Stabilizer *_this, const MR_MultiwayAligningTransform_Stabilizer *_other)

Typedef Documentation

MR_MultiwayAligningTransform

typedef struct MR_MultiwayAligningTransform MR_MultiwayAligningTransform

This class can be used to solve the problem of multiple 3D objects alignment, by first collecting weighted links between pairs of points from different objects, and then solving for transformations minimizing weighted average of link penalties Generated from class MR::MultiwayAligningTransform.

MR_MultiwayAligningTransform_Stabilizer

typedef struct MR_MultiwayAligningTransform_Stabilizer MR_MultiwayAligningTransform_Stabilizer

small stabilizer allows one to convert the linear system from under-determined to determined (e.g. too few linearly independent pairs for some object); large stabilizer results in suboptimal found transformations (huge stabilizier => zero transforamtions) Generated from class MR::MultiwayAligningTransform::Stabilizer.

MR_std_vector_MR_RigidXf3d

typedef struct MR_std_vector_MR_RigidXf3d MR_std_vector_MR_RigidXf3d

MR_Vector3d

typedef struct MR_Vector3d MR_Vector3d

MR_Vector3f

typedef struct MR_Vector3f MR_Vector3f

Function Documentation

MR_MultiwayAligningTransform_add_1()

MRC_API void MR_MultiwayAligningTransform_add_1	(	MR_MultiwayAligningTransform *	_this,
		const MR_MultiwayAligningTransform *	r )

appends links accumulated in (r) into this Generated from a method of class MR::MultiwayAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter r can not be null. It is a single object.

MR_MultiwayAligningTransform_add_5_MR_Vector3d()

MRC_API void MR_MultiwayAligningTransform_add_5_MR_Vector3d	(	MR_MultiwayAligningTransform *	_this,
		int32_t	objA,
		const MR_Vector3d *	pA,
		int32_t	objB,
		const MR_Vector3d *	pB,
		const double *	w )

appends a 3D link into consideration: one point (pA) from (objA), and the other point (pB) from (objB) with link penalty equal to weight (w) times squared distance between two points Generated from a method of class MR::MultiwayAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter pA can not be null. It is a single object. Parameter pB can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_MultiwayAligningTransform_add_5_MR_Vector3f()

MRC_API void MR_MultiwayAligningTransform_add_5_MR_Vector3f	(	MR_MultiwayAligningTransform *	_this,
		int32_t	objA,
		const MR_Vector3f *	pA,
		int32_t	objB,
		const MR_Vector3f *	pB,
		const float *	w )

appends a 3D link into consideration: one point (pA) from (objA), and the other point (pB) from (objB) with link penalty equal to weight (w) times squared distance between two points Generated from a method of class MR::MultiwayAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter pA can not be null. It is a single object. Parameter pB can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_MultiwayAligningTransform_add_6_MR_Vector3d()

MRC_API void MR_MultiwayAligningTransform_add_6_MR_Vector3d	(	MR_MultiwayAligningTransform *	_this,
		int32_t	objA,
		const MR_Vector3d *	pA,
		int32_t	objB,
		const MR_Vector3d *	pB,
		const MR_Vector3d *	n,
		const double *	w )

appends a 1D link into consideration: one point (pA) from (objA), and the other point (pB) from (objB) with link penalty equal to weight (w) times squared distance between their projections on given direction (n); for a point on last fixed object, it is equivalent to point-to-plane link with the plane through that fixed point with normal (n) Generated from a method of class MR::MultiwayAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter pA can not be null. It is a single object. Parameter pB can not be null. It is a single object. Parameter n can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_MultiwayAligningTransform_add_6_MR_Vector3f()

MRC_API void MR_MultiwayAligningTransform_add_6_MR_Vector3f	(	MR_MultiwayAligningTransform *	_this,
		int32_t	objA,
		const MR_Vector3f *	pA,
		int32_t	objB,
		const MR_Vector3f *	pB,
		const MR_Vector3f *	n,
		const float *	w )

appends a 1D link into consideration: one point (pA) from (objA), and the other point (pB) from (objB) with link penalty equal to weight (w) times squared distance between their projections on given direction (n); for a point on last fixed object, it is equivalent to point-to-plane link with the plane through that fixed point with normal (n) Generated from a method of class MR::MultiwayAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter pA can not be null. It is a single object. Parameter pB can not be null. It is a single object. Parameter n can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_MultiwayAligningTransform_AssignFromAnother()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_AssignFromAnother	(	MR_MultiwayAligningTransform *	_this,
		MR_PassBy	_other_pass_by,
		MR_MultiwayAligningTransform *	_other )

Generated from a method of class MR::MultiwayAligningTransform named operator=. Parameter _this can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Construct()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_Construct

(

int32_t

numObjs

)

initializes internal data to start registering given number of objects Generated from a constructor of class MR::MultiwayAligningTransform. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_ConstructFromAnother()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_ConstructFromAnother	(	MR_PassBy	_other_pass_by,
		MR_MultiwayAligningTransform *	_other )

Generated from a constructor of class MR::MultiwayAligningTransform. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_DefaultConstruct()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_DefaultConstruct

(

void

)

Constructs an empty (default-constructed) instance. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_DefaultConstructArray()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_DefaultConstructArray

(

size_t

num_elems

)

Constructs an array of empty (default-constructed) instances, of the specified size. Will never return null. The array must be destroyed using MR_MultiwayAligningTransform_DestroyArray(). Use MR_MultiwayAligningTransform_OffsetMutablePtr() and MR_MultiwayAligningTransform_OffsetPtr() to access the array elements.

MR_MultiwayAligningTransform_Destroy()

MRC_API void MR_MultiwayAligningTransform_Destroy

(

const MR_MultiwayAligningTransform *

_this

)

Destroys a heap-allocated instance of MR_MultiwayAligningTransform. Does nothing if the pointer is null.

MR_MultiwayAligningTransform_DestroyArray()

MRC_API void MR_MultiwayAligningTransform_DestroyArray

(

const MR_MultiwayAligningTransform *

_this

)

Destroys a heap-allocated array of MR_MultiwayAligningTransform. Does nothing if the pointer is null.

MR_MultiwayAligningTransform_OffsetMutablePtr()

MRC_API MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_OffsetMutablePtr	(	MR_MultiwayAligningTransform *	ptr,
		ptrdiff_t	i )

Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.

MR_MultiwayAligningTransform_OffsetPtr()

MRC_API const MR_MultiwayAligningTransform * MR_MultiwayAligningTransform_OffsetPtr	(	const MR_MultiwayAligningTransform *	ptr,
		ptrdiff_t	i )

Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.

MR_MultiwayAligningTransform_reset()

MRC_API void MR_MultiwayAligningTransform_reset	(	MR_MultiwayAligningTransform *	_this,
		int32_t	numObjs )

reinitializes internal data to start registering given number of objects Generated from a method of class MR::MultiwayAligningTransform named reset. Parameter _this can not be null. It is a single object.

MR_MultiwayAligningTransform_solve_0()

MRC_API MR_std_vector_MR_RigidXf3d * MR_MultiwayAligningTransform_solve_0

(

const MR_MultiwayAligningTransform *

_this

)

Generated from a method of class MR::MultiwayAligningTransform named solve. Parameter _this can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_std_vector_MR_RigidXf3d_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_solve_1()

MRC_API MR_std_vector_MR_RigidXf3d * MR_MultiwayAligningTransform_solve_1	(	const MR_MultiwayAligningTransform *	_this,
		const MR_MultiwayAligningTransform_Stabilizer *	stab )

finds the solution consisting of all objects transformations (numObj), that minimizes the summed weighted squared distance among accumulated links; the transform of the last object is always identity (it is fixed) Generated from a method of class MR::MultiwayAligningTransform named solve. Parameter _this can not be null. It is a single object. Parameter stab can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_std_vector_MR_RigidXf3d_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_Stabilizer_AssignFromAnother()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_AssignFromAnother	(	MR_MultiwayAligningTransform_Stabilizer *	_this,
		const MR_MultiwayAligningTransform_Stabilizer *	_other )

Generated from a method of class MR::MultiwayAligningTransform::Stabilizer named operator=. Parameter _this can not be null. It is a single object. Parameter _other can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Stabilizer_ConstructFrom()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_ConstructFrom	(	double	rot,
		double	shift )

Constructs MR::MultiwayAligningTransform::Stabilizer elementwise. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Stabilizer_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_Stabilizer_ConstructFromAnother()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_ConstructFromAnother

(

const MR_MultiwayAligningTransform_Stabilizer *

_other

)

Generated from a constructor of class MR::MultiwayAligningTransform::Stabilizer. Parameter _other can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Stabilizer_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_Stabilizer_DefaultConstruct()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_DefaultConstruct

(

void

)

Constructs an empty (default-constructed) instance. Never returns null. Returns an instance allocated on the heap! Must call MR_MultiwayAligningTransform_Stabilizer_Destroy() to free it when you're done using it.

MR_MultiwayAligningTransform_Stabilizer_DefaultConstructArray()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_DefaultConstructArray

(

size_t

num_elems

)

Constructs an array of empty (default-constructed) instances, of the specified size. Will never return null. The array must be destroyed using MR_MultiwayAligningTransform_Stabilizer_DestroyArray(). Use MR_MultiwayAligningTransform_Stabilizer_OffsetMutablePtr() and MR_MultiwayAligningTransform_Stabilizer_OffsetPtr() to access the array elements.

MR_MultiwayAligningTransform_Stabilizer_Destroy()

MRC_API void MR_MultiwayAligningTransform_Stabilizer_Destroy

(

const MR_MultiwayAligningTransform_Stabilizer *

_this

)

Destroys a heap-allocated instance of MR_MultiwayAligningTransform_Stabilizer. Does nothing if the pointer is null.

MR_MultiwayAligningTransform_Stabilizer_DestroyArray()

MRC_API void MR_MultiwayAligningTransform_Stabilizer_DestroyArray

(

const MR_MultiwayAligningTransform_Stabilizer *

_this

)

Destroys a heap-allocated array of MR_MultiwayAligningTransform_Stabilizer. Does nothing if the pointer is null.

MR_MultiwayAligningTransform_Stabilizer_Get_rot()

MRC_API const double * MR_MultiwayAligningTransform_Stabilizer_Get_rot

(

const MR_MultiwayAligningTransform_Stabilizer *

_this

)

Returns a pointer to a member variable of class MR::MultiwayAligningTransform::Stabilizer named rot. Parameter _this can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Stabilizer_Get_shift()

MRC_API const double * MR_MultiwayAligningTransform_Stabilizer_Get_shift

(

const MR_MultiwayAligningTransform_Stabilizer *

_this

)

Returns a pointer to a member variable of class MR::MultiwayAligningTransform::Stabilizer named shift. Parameter _this can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Stabilizer_GetMutable_rot()

MRC_API double * MR_MultiwayAligningTransform_Stabilizer_GetMutable_rot

(

MR_MultiwayAligningTransform_Stabilizer *

_this

)

Returns a mutable pointer to a member variable of class MR::MultiwayAligningTransform::Stabilizer named rot. Parameter _this can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Stabilizer_GetMutable_shift()

MRC_API double * MR_MultiwayAligningTransform_Stabilizer_GetMutable_shift

(

MR_MultiwayAligningTransform_Stabilizer *

_this

)

Returns a mutable pointer to a member variable of class MR::MultiwayAligningTransform::Stabilizer named shift. Parameter _this can not be null. It is a single object. The returned pointer will never be null. It is non-owning, do NOT destroy it.

MR_MultiwayAligningTransform_Stabilizer_OffsetMutablePtr()

MRC_API MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_OffsetMutablePtr	(	MR_MultiwayAligningTransform_Stabilizer *	ptr,
		ptrdiff_t	i )

Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.

MR_MultiwayAligningTransform_Stabilizer_OffsetPtr()

MRC_API const MR_MultiwayAligningTransform_Stabilizer * MR_MultiwayAligningTransform_Stabilizer_OffsetPtr	(	const MR_MultiwayAligningTransform_Stabilizer *	ptr,
		ptrdiff_t	i )

Offsets a pointer to an array element by i positions (not bytes). Use only if you're certain that the pointer points to an array element.

MR_MultiwayAligningTransform_Stabilizer_Set_rot()

MRC_API void MR_MultiwayAligningTransform_Stabilizer_Set_rot	(	MR_MultiwayAligningTransform_Stabilizer *	_this,
		double	value )

Modifies a member variable of class MR::MultiwayAligningTransform::Stabilizer named rot. Parameter _this can not be null. It is a single object.

MR_MultiwayAligningTransform_Stabilizer_Set_shift()

MRC_API void MR_MultiwayAligningTransform_Stabilizer_Set_shift	(	MR_MultiwayAligningTransform_Stabilizer *	_this,
		double	value )

Modifies a member variable of class MR::MultiwayAligningTransform::Stabilizer named shift. Parameter _this can not be null. It is a single object.