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`.

Protected Member Functions
virtual unsafe void	Dispose (bool disposing)

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]`

unsafe float	cosThreshold `[get]`

unsafe float	distThresholdSq `[get]`

unsafe float	farDistFactor `[get]`

unsafe MR.ICPMode	icpMode `[get]`

unsafe ref readonly MR.Vector3f	fixedRotationAxis `[get]`
	Additional parameter for ICPMode.OrthogonalAxis and ICPMode.FixedAxis transformation groups.

unsafe int	iterLimit `[get]`

unsafe int	badIterStopCount `[get]`

unsafe float	exitVal `[get]`

unsafe bool	mutualClosest `[get]`

Properties inherited from MR.Misc.Object< Const_ICPProperties >
virtual bool	_IsOwning `[get]`
	Returns true if this is an owning instance, and when disposed, will destroy the underlying C++ instance. If false, we assume that the underlying C++ instance will live long enough.

Additional Inherited Members
Protected Attributes inherited from MR.Misc.Object< Const_ICPProperties >
bool	_IsOwningVal

Detailed Description

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

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.

◆ 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.

◆ 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.

◆ 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:

MRICP.cs

Classes

Public Member Functions

Protected Member Functions

Properties