MRMultiwayICP.h

Go to the documentation of this file.

#pragma once
 
#include <MRCMesh/MRGridSampling.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_ICPPairData MR_ICPPairData; // Defined in `#include <MRCMesh/MRICP.h>`.
typedef struct MR_ICPProperties MR_ICPProperties; // Defined in `#include <MRCMesh/MRICP.h>`.
typedef struct MR_IPointPairs MR_IPointPairs; // Defined in `#include <MRCMesh/MRICP.h>`.
typedef struct MR_Id_MR_ICPElemtTag MR_Id_MR_ICPElemtTag; // Defined in `#include <MRCMesh/MRId.h>`.
typedef struct MR_ObjBitSet MR_ObjBitSet; // Defined in `#include <MRCMesh/MRBitSet.h>`.
typedef struct MR_TypedBitSet_MR_Id_MR_ICPElemtTag MR_TypedBitSet_MR_Id_MR_ICPElemtTag; // Defined in `#include <MRCMesh/MRBitSet.h>`.
typedef struct MR_Vector_MR_AffineXf3f_MR_ObjId MR_Vector_MR_AffineXf3f_MR_ObjId; // Defined in `#include <MRCMesh/MRVector.h>`.
typedef struct MR_Vector_MR_MeshOrPointsXf_MR_ObjId MR_Vector_MR_MeshOrPointsXf_MR_ObjId; // Defined in `#include <MRCMesh/MRVector.h>`.
typedef struct MR_Vector_MR_Vector_MR_Vector_MR_ICPGroupPairs_MR_Id_MR_ICPElemtTag_MR_Id_MR_ICPElemtTag_int MR_Vector_MR_Vector_MR_Vector_MR_ICPGroupPairs_MR_Id_MR_ICPElemtTag_MR_Id_MR_ICPElemtTag_int; // Defined in `#include <MRCMesh/MRVector.h>`.
typedef struct MR_std_function_bool_from_float MR_std_function_bool_from_float; // Defined in `#include <MRCMisc/std_function_bool_from_float.h>`.
typedef struct MR_std_function_void_from_const_MR_Vector3f_ref_MR_MeshOrPoints_ProjectionResult_ref_MR_ObjId_ref MR_std_function_void_from_const_MR_Vector3f_ref_MR_MeshOrPoints_ProjectionResult_ref_MR_ObjId_ref; // Defined in `#include <MRCMisc/std_function_void_from_const_MR_Vector3f_ref_MR_MeshOrPoints_ProjectionResult_ref_MR_ObjId_r__f9dd.h>`.
typedef struct MR_std_function_void_from_int MR_std_function_void_from_int; // Defined in `#include <MRCMisc/std_function_void_from_int.h>`.
typedef struct MR_std_string MR_std_string; // Defined in `#include <MRCMisc/std_string.h>`.
typedef struct MR_std_vector_MR_ICPGroupPair MR_std_vector_MR_ICPGroupPair; // Defined in `#include <MRCMisc/std_vector_MR_ICPGroupPair.h>`.
 

typedef struct MR_ICPGroupPair MR_ICPGroupPair;

typedef struct MR_ICPGroupPairs MR_ICPGroupPairs;

typedef struct MR_IICPTreeIndexer MR_IICPTreeIndexer;
 
typedef enum MR_MultiwayICPSamplingParameters_CascadeMode
{
    MR_MultiwayICPSamplingParameters_CascadeMode_Sequential = 0,
    MR_MultiwayICPSamplingParameters_CascadeMode_AABBTreeBased = 1,
} MR_MultiwayICPSamplingParameters_CascadeMode;

typedef struct MR_MultiwayICPSamplingParameters MR_MultiwayICPSamplingParameters;

typedef struct MR_MultiwayICP MR_MultiwayICP;

MRC_API const MR_ObjVertId *MR_ICPGroupPair_Get_srcId(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_srcId(MR_ICPGroupPair *_this, MR_ObjVertId value);

MRC_API MR_ObjVertId *MR_ICPGroupPair_GetMutable_srcId(MR_ICPGroupPair *_this);

MRC_API const MR_ObjVertId *MR_ICPGroupPair_Get_tgtClosestId(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_tgtClosestId(MR_ICPGroupPair *_this, MR_ObjVertId value);

MRC_API MR_ObjVertId *MR_ICPGroupPair_GetMutable_tgtClosestId(MR_ICPGroupPair *_this);

MRC_API const MR_Vector3f *MR_ICPGroupPair_Get_srcPoint(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_srcPoint(MR_ICPGroupPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPGroupPair_GetMutable_srcPoint(MR_ICPGroupPair *_this);

MRC_API const MR_Vector3f *MR_ICPGroupPair_Get_srcNorm(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_srcNorm(MR_ICPGroupPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPGroupPair_GetMutable_srcNorm(MR_ICPGroupPair *_this);

MRC_API const MR_Vector3f *MR_ICPGroupPair_Get_tgtPoint(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_tgtPoint(MR_ICPGroupPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPGroupPair_GetMutable_tgtPoint(MR_ICPGroupPair *_this);

MRC_API const MR_Vector3f *MR_ICPGroupPair_Get_tgtNorm(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_tgtNorm(MR_ICPGroupPair *_this, MR_Vector3f value);

MRC_API MR_Vector3f *MR_ICPGroupPair_GetMutable_tgtNorm(MR_ICPGroupPair *_this);

MRC_API const float *MR_ICPGroupPair_Get_distSq(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_distSq(MR_ICPGroupPair *_this, float value);

MRC_API float *MR_ICPGroupPair_GetMutable_distSq(MR_ICPGroupPair *_this);

MRC_API const float *MR_ICPGroupPair_Get_weight(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_Set_weight(MR_ICPGroupPair *_this, float value);

MRC_API float *MR_ICPGroupPair_GetMutable_weight(MR_ICPGroupPair *_this);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_DefaultConstruct(void);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_DefaultConstructArray(size_t num_elems);

MRC_API const MR_ICPGroupPair *MR_ICPGroupPair_OffsetPtr(const MR_ICPGroupPair *ptr, ptrdiff_t i);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_OffsetMutablePtr(MR_ICPGroupPair *ptr, ptrdiff_t i);

MRC_API const MR_ICPPairData *MR_ICPGroupPair_UpcastTo_MR_ICPPairData(const MR_ICPGroupPair *object);

MRC_API MR_ICPPairData *MR_ICPGroupPair_MutableUpcastTo_MR_ICPPairData(MR_ICPGroupPair *object);

MRC_API const MR_ICPGroupPair *MR_ICPGroupPair_StaticDowncastFrom_MR_ICPPairData(const MR_ICPPairData *object);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_MutableStaticDowncastFrom_MR_ICPPairData(MR_ICPPairData *object);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_ConstructFromAnother(const MR_ICPGroupPair *_other);

MRC_API void MR_ICPGroupPair_Destroy(const MR_ICPGroupPair *_this);

MRC_API void MR_ICPGroupPair_DestroyArray(const MR_ICPGroupPair *_this);

MRC_API MR_ICPGroupPair *MR_ICPGroupPair_AssignFromAnother(MR_ICPGroupPair *_this, const MR_ICPGroupPair *_other);

MRC_API const MR_std_vector_MR_ICPGroupPair *MR_ICPGroupPairs_Get_vec(const MR_ICPGroupPairs *_this);

MRC_API void MR_ICPGroupPairs_Set_vec(MR_ICPGroupPairs *_this, MR_PassBy value_pass_by, MR_std_vector_MR_ICPGroupPair *value);

MRC_API MR_std_vector_MR_ICPGroupPair *MR_ICPGroupPairs_GetMutable_vec(MR_ICPGroupPairs *_this);

MRC_API const MR_BitSet *MR_ICPGroupPairs_Get_active(const MR_ICPGroupPairs *_this);

MRC_API void MR_ICPGroupPairs_Set_active(MR_ICPGroupPairs *_this, MR_PassBy value_pass_by, MR_BitSet *value);

MRC_API MR_BitSet *MR_ICPGroupPairs_GetMutable_active(MR_ICPGroupPairs *_this);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_DefaultConstruct(void);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_DefaultConstructArray(size_t num_elems);

MRC_API const MR_ICPGroupPairs *MR_ICPGroupPairs_OffsetPtr(const MR_ICPGroupPairs *ptr, ptrdiff_t i);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_OffsetMutablePtr(MR_ICPGroupPairs *ptr, ptrdiff_t i);

MRC_API const MR_IPointPairs *MR_ICPGroupPairs_UpcastTo_MR_IPointPairs(const MR_ICPGroupPairs *object);

MRC_API MR_IPointPairs *MR_ICPGroupPairs_MutableUpcastTo_MR_IPointPairs(MR_ICPGroupPairs *object);

MRC_API const MR_ICPGroupPairs *MR_ICPGroupPairs_StaticDowncastFrom_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_MutableStaticDowncastFrom_MR_IPointPairs(MR_IPointPairs *object);

MRC_API const MR_ICPGroupPairs *MR_ICPGroupPairs_DynamicDowncastFrom_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_MutableDynamicDowncastFrom_MR_IPointPairs(MR_IPointPairs *object);

MRC_API const MR_ICPGroupPairs *MR_ICPGroupPairs_DynamicDowncastFromOrFail_MR_IPointPairs(const MR_IPointPairs *object);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_MutableDynamicDowncastFromOrFail_MR_IPointPairs(MR_IPointPairs *object);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_ConstructFromAnother(MR_PassBy _other_pass_by, MR_ICPGroupPairs *_other);

MRC_API void MR_ICPGroupPairs_Destroy(const MR_ICPGroupPairs *_this);

MRC_API void MR_ICPGroupPairs_DestroyArray(const MR_ICPGroupPairs *_this);

MRC_API MR_ICPGroupPairs *MR_ICPGroupPairs_AssignFromAnother(MR_ICPGroupPairs *_this, MR_PassBy _other_pass_by, MR_ICPGroupPairs *_other);

MRC_API const MR_ICPPairData *MR_ICPGroupPairs_index(const MR_ICPGroupPairs *_this, MR_uint64_t idx);

MRC_API MR_ICPPairData *MR_ICPGroupPairs_index_mut(MR_ICPGroupPairs *_this, MR_uint64_t idx);

MRC_API MR_uint64_t MR_ICPGroupPairs_size(const MR_ICPGroupPairs *_this);

MRC_API void MR_updateGroupPairs(MR_ICPGroupPairs *pairs, const MR_Vector_MR_MeshOrPointsXf_MR_ObjId *objs, MR_PassBy srcProjector_pass_by, MR_std_function_void_from_const_MR_Vector3f_ref_MR_MeshOrPoints_ProjectionResult_ref_MR_ObjId_ref *srcProjector, MR_PassBy tgtProjector_pass_by, MR_std_function_void_from_const_MR_Vector3f_ref_MR_MeshOrPoints_ProjectionResult_ref_MR_ObjId_ref *tgtProjector, float cosThreshold, float distThresholdSq, bool mutualClosest);

MRC_API void MR_IICPTreeIndexer_Destroy(const MR_IICPTreeIndexer *_this);

MRC_API void MR_IICPTreeIndexer_DestroyArray(const MR_IICPTreeIndexer *_this);

MRC_API bool MR_IICPTreeIndexer_fromSameNode(const MR_IICPTreeIndexer *_this, int l, const MR_Id_MR_ICPElemtTag *eI, const MR_Id_MR_ICPElemtTag *eJ);

MRC_API MR_ObjBitSet *MR_IICPTreeIndexer_getElementLeaves(const MR_IICPTreeIndexer *_this, int l, const MR_Id_MR_ICPElemtTag *eId);

MRC_API MR_TypedBitSet_MR_Id_MR_ICPElemtTag *MR_IICPTreeIndexer_getElementNodes(const MR_IICPTreeIndexer *_this, int l, const MR_Id_MR_ICPElemtTag *eId);

MRC_API MR_uint64_t MR_IICPTreeIndexer_getNumElements(const MR_IICPTreeIndexer *_this, int l);

MRC_API MR_uint64_t MR_IICPTreeIndexer_getNumLayers(const MR_IICPTreeIndexer *_this);

MRC_API const MR_IICPTreeIndexer *MR_IICPTreeIndexer_OffsetPtr(const MR_IICPTreeIndexer *ptr, ptrdiff_t i);

MRC_API MR_IICPTreeIndexer *MR_IICPTreeIndexer_OffsetMutablePtr(MR_IICPTreeIndexer *ptr, ptrdiff_t i);

MRC_API const float *MR_MultiwayICPSamplingParameters_Get_samplingVoxelSize(const MR_MultiwayICPSamplingParameters *_this);

MRC_API void MR_MultiwayICPSamplingParameters_Set_samplingVoxelSize(MR_MultiwayICPSamplingParameters *_this, float value);

MRC_API float *MR_MultiwayICPSamplingParameters_GetMutable_samplingVoxelSize(MR_MultiwayICPSamplingParameters *_this);

MRC_API const int *MR_MultiwayICPSamplingParameters_Get_maxGroupSize(const MR_MultiwayICPSamplingParameters *_this);

MRC_API void MR_MultiwayICPSamplingParameters_Set_maxGroupSize(MR_MultiwayICPSamplingParameters *_this, int value);

MRC_API int *MR_MultiwayICPSamplingParameters_GetMutable_maxGroupSize(MR_MultiwayICPSamplingParameters *_this);

MRC_API const MR_MultiwayICPSamplingParameters_CascadeMode *MR_MultiwayICPSamplingParameters_Get_cascadeMode(const MR_MultiwayICPSamplingParameters *_this);

MRC_API void MR_MultiwayICPSamplingParameters_Set_cascadeMode(MR_MultiwayICPSamplingParameters *_this, MR_MultiwayICPSamplingParameters_CascadeMode value);

MRC_API MR_MultiwayICPSamplingParameters_CascadeMode *MR_MultiwayICPSamplingParameters_GetMutable_cascadeMode(MR_MultiwayICPSamplingParameters *_this);

MRC_API const MR_std_function_bool_from_float *MR_MultiwayICPSamplingParameters_Get_cb(const MR_MultiwayICPSamplingParameters *_this);

MRC_API void MR_MultiwayICPSamplingParameters_Set_cb(MR_MultiwayICPSamplingParameters *_this, MR_PassBy value_pass_by, MR_std_function_bool_from_float *value);

MRC_API MR_std_function_bool_from_float *MR_MultiwayICPSamplingParameters_GetMutable_cb(MR_MultiwayICPSamplingParameters *_this);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_DefaultConstruct(void);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_DefaultConstructArray(size_t num_elems);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_ConstructFrom(float samplingVoxelSize, int maxGroupSize, MR_MultiwayICPSamplingParameters_CascadeMode cascadeMode, MR_PassBy cb_pass_by, MR_std_function_bool_from_float *cb);

MRC_API const MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_OffsetPtr(const MR_MultiwayICPSamplingParameters *ptr, ptrdiff_t i);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_OffsetMutablePtr(MR_MultiwayICPSamplingParameters *ptr, ptrdiff_t i);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_ConstructFromAnother(MR_PassBy _other_pass_by, MR_MultiwayICPSamplingParameters *_other);

MRC_API void MR_MultiwayICPSamplingParameters_Destroy(const MR_MultiwayICPSamplingParameters *_this);

MRC_API void MR_MultiwayICPSamplingParameters_DestroyArray(const MR_MultiwayICPSamplingParameters *_this);

MRC_API MR_MultiwayICPSamplingParameters *MR_MultiwayICPSamplingParameters_AssignFromAnother(MR_MultiwayICPSamplingParameters *_this, MR_PassBy _other_pass_by, MR_MultiwayICPSamplingParameters *_other);

MRC_API MR_MultiwayICP *MR_MultiwayICP_ConstructFromAnother(MR_PassBy _other_pass_by, MR_MultiwayICP *_other);

MRC_API const MR_MultiwayICP *MR_MultiwayICP_OffsetPtr(const MR_MultiwayICP *ptr, ptrdiff_t i);

MRC_API MR_MultiwayICP *MR_MultiwayICP_OffsetMutablePtr(MR_MultiwayICP *ptr, ptrdiff_t i);

MRC_API MR_MultiwayICP *MR_MultiwayICP_Construct(const MR_Vector_MR_MeshOrPointsXf_MR_ObjId *objects, const MR_MultiwayICPSamplingParameters *samplingParams);

MRC_API void MR_MultiwayICP_Destroy(const MR_MultiwayICP *_this);

MRC_API void MR_MultiwayICP_DestroyArray(const MR_MultiwayICP *_this);

MRC_API MR_MultiwayICP *MR_MultiwayICP_AssignFromAnother(MR_MultiwayICP *_this, MR_PassBy _other_pass_by, MR_MultiwayICP *_other);

MRC_API MR_Vector_MR_AffineXf3f_MR_ObjId *MR_MultiwayICP_calculateTransformations(MR_MultiwayICP *_this, const MR_std_function_bool_from_float *cb);

MRC_API MR_Vector_MR_AffineXf3f_MR_ObjId *MR_MultiwayICP_calculateTransformationsFixFirst(MR_MultiwayICP *_this, const MR_std_function_bool_from_float *cb);

MRC_API bool MR_MultiwayICP_resamplePoints(MR_MultiwayICP *_this, const MR_MultiwayICPSamplingParameters *samplingParams);

MRC_API bool MR_MultiwayICP_updateAllPointPairs(MR_MultiwayICP *_this, const MR_std_function_bool_from_float *cb);

MRC_API void MR_MultiwayICP_setParams(MR_MultiwayICP *_this, const MR_ICPProperties *prop);

MRC_API const MR_ICPProperties *MR_MultiwayICP_getParams(const MR_MultiwayICP *_this);

MRC_API float MR_MultiwayICP_getMeanSqDistToPoint(const MR_MultiwayICP *_this, const double *value);

MRC_API float MR_MultiwayICP_getMeanSqDistToPlane(const MR_MultiwayICP *_this, const double *value);

MRC_API MR_uint64_t MR_MultiwayICP_getNumSamples(const MR_MultiwayICP *_this);

MRC_API MR_uint64_t MR_MultiwayICP_getNumActivePairs(const MR_MultiwayICP *_this);

MRC_API void MR_MultiwayICP_setPerIterationCallback(MR_MultiwayICP *_this, MR_PassBy callback_pass_by, MR_std_function_void_from_int *callback);

MRC_API bool MR_MultiwayICP_devIndependentEquationsModeEnabled(const MR_MultiwayICP *_this);

MRC_API void MR_MultiwayICP_devEnableIndependentEquationsMode(MR_MultiwayICP *_this, bool on);

MRC_API MR_std_string *MR_MultiwayICP_getStatusInfo(const MR_MultiwayICP *_this);

MRC_API const MR_Vector_MR_Vector_MR_Vector_MR_ICPGroupPairs_MR_Id_MR_ICPElemtTag_MR_Id_MR_ICPElemtTag_int *MR_MultiwayICP_getPairsPerLayer(const MR_MultiwayICP *_this);

MRC_API const MR_IICPTreeIndexer *MR_MultiwayICP_getCascadeIndexer(const MR_MultiwayICP *_this);
 
#ifdef __cplusplus
} // extern "C"
#endif