MRRigidXfRansac.h

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#pragma once
 
#include "MRMeshFwd.h"
#include "MRExpected.h"
#include "MRAffineXf3.h"
#include "MRId.h"
#include <cstdint>
#include <vector>
 
namespace MR
{
 
 
struct RigidXfRansacParams
{
    float inlierDistance = 0;

    int maxIterations = 100000;

    float confidence = 0.999f;

    float edgeLengthRatio = 0.9f;

    std::uint32_t seed = 0;

    const VertCoords * overlapSrcPoints = nullptr;
    const PointCloud * overlapTgtCloud = nullptr;

    const VertCoords * overlapTgtPoints = nullptr;
    const PointCloud * overlapSrcCloud = nullptr;
};

[[nodiscard]] MRMESH_API size_t countInliers( const VertCoords & srcPoints, const VertCoords & tgtPoints,
    const std::vector<VertPair> & matches, const AffineXf3f & xf, float inlierDistance );

[[nodiscard]] MRMESH_API Expected<AffineXf3f> findRigidXfRansac( const VertCoords & srcPoints, const VertCoords & tgtPoints,
    const std::vector<VertPair> & matches, const RigidXfRansacParams & params, const ProgressCallback & progress = {} );
 
}