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Classes | Public Member Functions | Protected Member Functions | Protected Attributes | Properties | List of all members
MR.Const_ICPProperties Class Reference

parameters of ICP algorithm Generated from class MR.ICPProperties. This is the const half of the class. More...

Inheritance diagram for MR.Const_ICPProperties:

Classes

struct  _Underlying

Public Member Functions

virtual void Dispose ()
unsafe Const_ICPProperties ()
 Constructs an empty (default-constructed) instance.
unsafe Const_ICPProperties (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)
 Constructs MR.ICPProperties elementwise.
unsafe Const_ICPProperties (MR.Const_ICPProperties _other)
 Generated from constructor MR.ICPProperties.ICPProperties.
 Const_ICPProperties (ICPProperties _other)
 Generated from constructor MR.ICPProperties.ICPProperties.

Protected Member Functions

virtual unsafe void Dispose (bool disposing)

Protected Attributes

unsafe MR.ICPMethod * __ref_storage_method
unsafe float * __ref_storage_p2plAngleLimit
unsafe float * __ref_storage_p2plScaleLimit
unsafe float * __ref_storage_cosThreshold
unsafe float * __ref_storage_distThresholdSq
unsafe float * __ref_storage_farDistFactor
unsafe MR.ICPMode * __ref_storage_icpMode
unsafe MR.Vector3f * __ref_storage_fixedRotationAxis
unsafe int * __ref_storage_iterLimit
unsafe int * __ref_storage_badIterStopCount
unsafe float * __ref_storage_exitVal
unsafe bool * __ref_storage_mutualClosest

Properties

unsafe MR.ICPMethod method [get]
 The method how to update transformation from point pairs, see description of each option in ICPMethod.
unsafe float p2plAngleLimit [get]
unsafe float p2plScaleLimit [get]
 Scaling during one iteration of ICPMethod.PointToPlane will be limited by this value. This is to reduce possible instability.
unsafe float cosThreshold [get]
unsafe float distThresholdSq [get]
unsafe float farDistFactor [get]
unsafe MR.ICPMode icpMode [get]
 Selects the group of transformations, where to find a solution (e.g. with scaling or without, with rotation or without, ...). See the description of each option in ICPMode.
unsafe ref readonly MR.Vector3f fixedRotationAxis [get]
 Additional parameter for ICPMode.OrthogonalAxis and ICPMode.FixedAxis transformation groups.
unsafe int iterLimit [get]
 The maximum number of iterations that the algorithm can perform. Increase this parameter if you need a higher precision or if initial approximation is not very precise.
unsafe int badIterStopCount [get]
 The algorithm will stop before making all (iterLimit) iterations, if there were consecutive (badIterStopCount) iterations, during which the average distance between points in active pairs did not diminish.
unsafe float exitVal [get]
unsafe bool mutualClosest [get]
 A pair of points is activated only if both points in the pair are mutually closest (reciprocity test passed), some papers recommend this mode for filtering out wrong pairs, but it can be too aggressive and deactivate (almost) all pairs.

Detailed Description

parameters of ICP algorithm Generated from class MR.ICPProperties. This is the const half of the class.

Constructor & Destructor Documentation

◆ Const_ICPProperties() [1/4]

unsafe MR.Const_ICPProperties.Const_ICPProperties ( )
inline

Constructs an empty (default-constructed) instance.

◆ Const_ICPProperties() [2/4]

unsafe MR.Const_ICPProperties.Const_ICPProperties ( 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 )
inline

Constructs MR.ICPProperties elementwise.

◆ Const_ICPProperties() [3/4]

unsafe MR.Const_ICPProperties.Const_ICPProperties ( MR.Const_ICPProperties _other)
inline

Generated from constructor MR.ICPProperties.ICPProperties.

◆ Const_ICPProperties() [4/4]

MR.Const_ICPProperties.Const_ICPProperties ( ICPProperties _other)
inline

Generated from constructor MR.ICPProperties.ICPProperties.

Member Function Documentation

◆ Dispose() [1/2]

virtual void MR.Const_ICPProperties.Dispose ( )
inlinevirtual

◆ Dispose() [2/2]

virtual unsafe void MR.Const_ICPProperties.Dispose ( bool disposing)
inlineprotectedvirtual

Member Data Documentation

◆ __ref_storage_badIterStopCount

unsafe int* MR.Const_ICPProperties.__ref_storage_badIterStopCount
protected

◆ __ref_storage_cosThreshold

unsafe float* MR.Const_ICPProperties.__ref_storage_cosThreshold
protected

◆ __ref_storage_distThresholdSq

unsafe float* MR.Const_ICPProperties.__ref_storage_distThresholdSq
protected

◆ __ref_storage_exitVal

unsafe float* MR.Const_ICPProperties.__ref_storage_exitVal
protected

◆ __ref_storage_farDistFactor

unsafe float* MR.Const_ICPProperties.__ref_storage_farDistFactor
protected

◆ __ref_storage_fixedRotationAxis

unsafe MR.Vector3f* MR.Const_ICPProperties.__ref_storage_fixedRotationAxis
protected

◆ __ref_storage_icpMode

unsafe MR.ICPMode* MR.Const_ICPProperties.__ref_storage_icpMode
protected

◆ __ref_storage_iterLimit

unsafe int* MR.Const_ICPProperties.__ref_storage_iterLimit
protected

◆ __ref_storage_method

unsafe MR.ICPMethod* MR.Const_ICPProperties.__ref_storage_method
protected

◆ __ref_storage_mutualClosest

unsafe bool* MR.Const_ICPProperties.__ref_storage_mutualClosest
protected

◆ __ref_storage_p2plAngleLimit

unsafe float* MR.Const_ICPProperties.__ref_storage_p2plAngleLimit
protected

◆ __ref_storage_p2plScaleLimit

unsafe float* MR.Const_ICPProperties.__ref_storage_p2plScaleLimit
protected

Property Documentation

◆ badIterStopCount

unsafe int MR.Const_ICPProperties.badIterStopCount
get

The algorithm will stop before making all (iterLimit) iterations, if there were consecutive (badIterStopCount) iterations, during which the average distance between points in active pairs did not diminish.

◆ cosThreshold

unsafe float MR.Const_ICPProperties.cosThreshold
get

◆ distThresholdSq

unsafe float MR.Const_ICPProperties.distThresholdSq
get

◆ exitVal

unsafe float MR.Const_ICPProperties.exitVal
get

◆ farDistFactor

unsafe float MR.Const_ICPProperties.farDistFactor
get

◆ fixedRotationAxis

unsafe ref readonly MR.Vector3f MR.Const_ICPProperties.fixedRotationAxis
get

Additional parameter for ICPMode.OrthogonalAxis and ICPMode.FixedAxis transformation groups.

◆ icpMode

unsafe MR.ICPMode MR.Const_ICPProperties.icpMode
get

Selects the group of transformations, where to find a solution (e.g. with scaling or without, with rotation or without, ...). See the description of each option in ICPMode.

◆ iterLimit

unsafe int MR.Const_ICPProperties.iterLimit
get

The maximum number of iterations that the algorithm can perform. Increase this parameter if you need a higher precision or if initial approximation is not very precise.

◆ method

unsafe MR.ICPMethod MR.Const_ICPProperties.method
get

The method how to update transformation from point pairs, see description of each option in ICPMethod.

◆ mutualClosest

unsafe bool MR.Const_ICPProperties.mutualClosest
get

A pair of points is activated only if both points in the pair are mutually closest (reciprocity test passed), some papers recommend this mode for filtering out wrong pairs, but it can be too aggressive and deactivate (almost) all pairs.

◆ p2plAngleLimit

unsafe float MR.Const_ICPProperties.p2plAngleLimit
get

◆ p2plScaleLimit

unsafe float MR.Const_ICPProperties.p2plScaleLimit
get

Scaling during one iteration of ICPMethod.PointToPlane will be limited by this value. This is to reduce possible instability.

The documentation for this class was generated from the following file: