MRPointToPlaneAligningTransform.h File Reference

#include <MRCMesh/MRAffineXf.h>
#include <MRCMesh/MRVector3.h>
#include <MRCMisc/common.h>
#include <MRCMisc/exports.h>
#include <stddef.h>

Go to the source code of this file.

Typedefs
typedef struct MR_RigidScaleXf3d	MR_RigidScaleXf3d
typedef struct MR_Vector3f	MR_Vector3f
typedef struct MR_PointToPlaneAligningTransform	MR_PointToPlaneAligningTransform

Functions
MRC_API MR_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_DefaultConstruct (void)
MRC_API MR_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_DefaultConstructArray (size_t num_elems)
MRC_API const MR_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_OffsetPtr (const MR_PointToPlaneAligningTransform *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_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_OffsetMutablePtr (MR_PointToPlaneAligningTransform *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_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_ConstructFromAnother (MR_PassBy _other_pass_by, MR_PointToPlaneAligningTransform *_other)
MRC_API void	MR_PointToPlaneAligningTransform_Destroy (const MR_PointToPlaneAligningTransform *_this)
	Destroys a heap-allocated instance of MR_PointToPlaneAligningTransform. Does nothing if the pointer is null.
MRC_API void	MR_PointToPlaneAligningTransform_DestroyArray (const MR_PointToPlaneAligningTransform *_this)
	Destroys a heap-allocated array of MR_PointToPlaneAligningTransform. Does nothing if the pointer is null.
MRC_API MR_PointToPlaneAligningTransform *	MR_PointToPlaneAligningTransform_AssignFromAnother (MR_PointToPlaneAligningTransform *_this, MR_PassBy _other_pass_by, MR_PointToPlaneAligningTransform *_other)
MRC_API void	MR_PointToPlaneAligningTransform_add_MR_Vector3d (MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *p1, const MR_Vector3d *p2, const MR_Vector3d *normal2, const double *w)
MRC_API void	MR_PointToPlaneAligningTransform_add_MR_Vector3f (MR_PointToPlaneAligningTransform *_this, const MR_Vector3f *p1, const MR_Vector3f *p2, const MR_Vector3f *normal2, const float *w)
MRC_API void	MR_PointToPlaneAligningTransform_prepare (MR_PointToPlaneAligningTransform *_this)
MRC_API void	MR_PointToPlaneAligningTransform_clear (MR_PointToPlaneAligningTransform *_this)
MRC_API MR_AffineXf3d	MR_PointToPlaneAligningTransform_findBestRigidXf (const MR_PointToPlaneAligningTransform *_this)
MRC_API MR_AffineXf3d	MR_PointToPlaneAligningTransform_findBestRigidScaleXf (const MR_PointToPlaneAligningTransform *_this)
MRC_API MR_AffineXf3d	MR_PointToPlaneAligningTransform_findBestRigidXfFixedRotationAxis (const MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *axis)
MRC_API MR_AffineXf3d	MR_PointToPlaneAligningTransform_findBestRigidXfOrthogonalRotationAxis (const MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *ort)
MRC_API MR_Vector3d	MR_PointToPlaneAligningTransform_findBestTranslation (const MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *rotAngles, const double *scale)
MRC_API MR_RigidScaleXf3d *	MR_PointToPlaneAligningTransform_calculateAmendment (const MR_PointToPlaneAligningTransform *_this)
MRC_API MR_RigidScaleXf3d *	MR_PointToPlaneAligningTransform_calculateAmendmentWithScale (const MR_PointToPlaneAligningTransform *_this)
MRC_API MR_RigidScaleXf3d *	MR_PointToPlaneAligningTransform_calculateFixedAxisAmendment (const MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *axis)
MRC_API MR_RigidScaleXf3d *	MR_PointToPlaneAligningTransform_calculateOrthogonalAxisAmendment (const MR_PointToPlaneAligningTransform *_this, const MR_Vector3d *ort)

Typedef Documentation

MR_PointToPlaneAligningTransform

typedef struct MR_PointToPlaneAligningTransform MR_PointToPlaneAligningTransform

This class and its main method can be used to solve the problem of 3D shape alignment. This algorithm uses a point-to-plane error metric in which the object of minimization is the sum of the squared distance between a point and the tangent plane at its correspondence point. To use this technique it's need to have small rotation angles. So there is an approximate solution. The result of this algorithm is the transformation of first points (p1) which aligns it to the second ones (p2). Generated from class MR::PointToPlaneAligningTransform.

MR_RigidScaleXf3d

typedef struct MR_RigidScaleXf3d MR_RigidScaleXf3d

MR_Vector3f

typedef struct MR_Vector3f MR_Vector3f

Function Documentation

MR_PointToPlaneAligningTransform_add_MR_Vector3d()

MRC_API void MR_PointToPlaneAligningTransform_add_MR_Vector3d	(	MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	p1,
		const MR_Vector3d *	p2,
		const MR_Vector3d *	normal2,
		const double *	w )

Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from a method of class MR::PointToPlaneAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter p1 can not be null. It is a single object. Parameter p2 can not be null. It is a single object. Parameter normal2 can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_PointToPlaneAligningTransform_add_MR_Vector3f()

MRC_API void MR_PointToPlaneAligningTransform_add_MR_Vector3f	(	MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3f *	p1,
		const MR_Vector3f *	p2,
		const MR_Vector3f *	normal2,
		const float *	w )

Add a pair of corresponding points and the normal of the tangent plane at the second point Generated from a method of class MR::PointToPlaneAligningTransform named add. Parameter _this can not be null. It is a single object. Parameter p1 can not be null. It is a single object. Parameter p2 can not be null. It is a single object. Parameter normal2 can not be null. It is a single object. Parameter w has a default argument: 1, pass a null pointer to use it.

MR_PointToPlaneAligningTransform_AssignFromAnother()

MRC_API MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_AssignFromAnother	(	MR_PointToPlaneAligningTransform *	_this,
		MR_PassBy	_other_pass_by,
		MR_PointToPlaneAligningTransform *	_other )

Generated from a method of class MR::PointToPlaneAligningTransform 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_PointToPlaneAligningTransform_calculateAmendment()

MRC_API MR_RigidScaleXf3d * MR_PointToPlaneAligningTransform_calculateAmendment

(

const MR_PointToPlaneAligningTransform *

_this

)

Compute transformation relative to given approximation and return it as angles and shift (scale = 1) Generated from a method of class MR::PointToPlaneAligningTransform named calculateAmendment. Parameter _this can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_RigidScaleXf3d_Destroy() to free it when you're done using it.

MR_PointToPlaneAligningTransform_calculateAmendmentWithScale()

MRC_API MR_RigidScaleXf3d * MR_PointToPlaneAligningTransform_calculateAmendmentWithScale

(

const MR_PointToPlaneAligningTransform *

_this

)

Compute transformation relative to given approximation and return it as scale, angles and shift Generated from a method of class MR::PointToPlaneAligningTransform named calculateAmendmentWithScale. Parameter _this can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_RigidScaleXf3d_Destroy() to free it when you're done using it.

MR_PointToPlaneAligningTransform_calculateFixedAxisAmendment()

MRC_API MR_RigidScaleXf3d * MR_PointToPlaneAligningTransform_calculateFixedAxisAmendment	(	const MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	axis )

this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation Generated from a method of class MR::PointToPlaneAligningTransform named calculateFixedAxisAmendment. Parameter _this can not be null. It is a single object. Parameter axis can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_RigidScaleXf3d_Destroy() to free it when you're done using it.

MR_PointToPlaneAligningTransform_calculateOrthogonalAxisAmendment()

MRC_API MR_RigidScaleXf3d * MR_PointToPlaneAligningTransform_calculateOrthogonalAxisAmendment	(	const MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	ort )

this version searches for best transformation where rotation is allowed only around axes orthogonal to given one Generated from a method of class MR::PointToPlaneAligningTransform named calculateOrthogonalAxisAmendment. Parameter _this can not be null. It is a single object. Parameter ort can not be null. It is a single object. Never returns null. Returns an instance allocated on the heap! Must call MR_RigidScaleXf3d_Destroy() to free it when you're done using it.

MR_PointToPlaneAligningTransform_clear()

MRC_API void MR_PointToPlaneAligningTransform_clear

(

MR_PointToPlaneAligningTransform *

_this

)

Clear points and normals data Generated from a method of class MR::PointToPlaneAligningTransform named clear. Parameter _this can not be null. It is a single object.

MR_PointToPlaneAligningTransform_ConstructFromAnother()

MRC_API MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_ConstructFromAnother	(	MR_PassBy	_other_pass_by,
		MR_PointToPlaneAligningTransform *	_other )

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

MR_PointToPlaneAligningTransform_DefaultConstruct()

MRC_API MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_DefaultConstruct

(

void

)

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

MR_PointToPlaneAligningTransform_DefaultConstructArray()

MRC_API MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_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_PointToPlaneAligningTransform_DestroyArray(). Use MR_PointToPlaneAligningTransform_OffsetMutablePtr() and MR_PointToPlaneAligningTransform_OffsetPtr() to access the array elements.

MR_PointToPlaneAligningTransform_Destroy()

MRC_API void MR_PointToPlaneAligningTransform_Destroy

(

const MR_PointToPlaneAligningTransform *

_this

)

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

MR_PointToPlaneAligningTransform_DestroyArray()

MRC_API void MR_PointToPlaneAligningTransform_DestroyArray

(

const MR_PointToPlaneAligningTransform *

_this

)

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

MR_PointToPlaneAligningTransform_findBestRigidScaleXf()

MRC_API MR_AffineXf3d MR_PointToPlaneAligningTransform_findBestRigidScaleXf

(

const MR_PointToPlaneAligningTransform *

_this

)

this version searches for best rigid body transformation with uniform scaling Generated from a method of class MR::PointToPlaneAligningTransform named findBestRigidScaleXf. Parameter _this can not be null. It is a single object.

MR_PointToPlaneAligningTransform_findBestRigidXf()

MRC_API MR_AffineXf3d MR_PointToPlaneAligningTransform_findBestRigidXf

(

const MR_PointToPlaneAligningTransform *

_this

)

Compute transformation as the solution to a least squares optimization problem: xf( p1_i ) = p2_i this version searches for best rigid body transformation Generated from a method of class MR::PointToPlaneAligningTransform named findBestRigidXf. Parameter _this can not be null. It is a single object.

MR_PointToPlaneAligningTransform_findBestRigidXfFixedRotationAxis()

MRC_API MR_AffineXf3d MR_PointToPlaneAligningTransform_findBestRigidXfFixedRotationAxis	(	const MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	axis )

this version searches for best transformation where rotation is allowed only around given axis and with arbitrary translation Generated from a method of class MR::PointToPlaneAligningTransform named findBestRigidXfFixedRotationAxis. Parameter _this can not be null. It is a single object. Parameter axis can not be null. It is a single object.

MR_PointToPlaneAligningTransform_findBestRigidXfOrthogonalRotationAxis()

MRC_API MR_AffineXf3d MR_PointToPlaneAligningTransform_findBestRigidXfOrthogonalRotationAxis	(	const MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	ort )

this version searches for best transformation where rotation is allowed only around axes orthogonal to given one Generated from a method of class MR::PointToPlaneAligningTransform named findBestRigidXfOrthogonalRotationAxis. Parameter _this can not be null. It is a single object. Parameter ort can not be null. It is a single object.

MR_PointToPlaneAligningTransform_findBestTranslation()

MRC_API MR_Vector3d MR_PointToPlaneAligningTransform_findBestTranslation	(	const MR_PointToPlaneAligningTransform *	_this,
		const MR_Vector3d *	rotAngles,
		const double *	scale )

this version searches for best translational part of affine transformation with given linear part Generated from a method of class MR::PointToPlaneAligningTransform named findBestTranslation. Parameter _this can not be null. It is a single object. Parameter rotAngles has a default argument: {}, pass a null pointer to use it. Parameter scale has a default argument: 1, pass a null pointer to use it.

MR_PointToPlaneAligningTransform_OffsetMutablePtr()

MRC_API MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_OffsetMutablePtr	(	MR_PointToPlaneAligningTransform *	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_PointToPlaneAligningTransform_OffsetPtr()

MRC_API const MR_PointToPlaneAligningTransform * MR_PointToPlaneAligningTransform_OffsetPtr	(	const MR_PointToPlaneAligningTransform *	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_PointToPlaneAligningTransform_prepare()

MRC_API void MR_PointToPlaneAligningTransform_prepare

(

MR_PointToPlaneAligningTransform *

_this

)

this method must be called after add() and before constant find...()/calculate...() to make the matrix symmetric Generated from a method of class MR::PointToPlaneAligningTransform named prepare. Parameter _this can not be null. It is a single object.