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Public Member Functions | Properties | List of all members
MR.ICPProperties Class Reference

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

+ Inheritance diagram for MR.ICPProperties:

Public Member Functions

unsafe ICPProperties ()
 Constructs an empty (default-constructed) instance.
 
unsafe 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 ICPProperties (MR.Const_ICPProperties _other)
 Generated from constructor MR.ICPProperties.ICPProperties.
 
 ICPProperties (ICPProperties _other)
 Generated from constructor MR.ICPProperties.ICPProperties.
 
unsafe MR.ICPProperties assign (MR.Const_ICPProperties _other)
 Generated from method MR.ICPProperties.operator=.
 

Properties

new unsafe ref MR.ICPMethod method [get]
 The method how to update transformation from point pairs, see description of each option in ICPMethod.
 
new unsafe ref float p2plAngleLimit [get]
 
new unsafe ref float p2plScaleLimit [get]
 
new unsafe ref float cosThreshold [get]
 
new unsafe ref float distThresholdSq [get]
 
new unsafe ref float farDistFactor [get]
 
new unsafe ref MR.ICPMode icpMode [get]
 
new unsafe ref MR.Vector3f fixedRotationAxis [get]
 Additional parameter for ICPMode.OrthogonalAxis and ICPMode.FixedAxis transformation groups.
 
new unsafe ref int iterLimit [get]
 
new unsafe ref int badIterStopCount [get]
 
new unsafe ref float exitVal [get]
 
new unsafe ref bool mutualClosest [get]
 

Detailed Description

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

Constructor & Destructor Documentation

◆ ICPProperties() [1/4]

unsafe MR.ICPProperties.ICPProperties ( )
inline

Constructs an empty (default-constructed) instance.

◆ ICPProperties() [2/4]

unsafe MR.ICPProperties.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.

◆ ICPProperties() [3/4]

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

Generated from constructor MR.ICPProperties.ICPProperties.

◆ ICPProperties() [4/4]

MR.ICPProperties.ICPProperties ( ICPProperties _other)
inline

Generated from constructor MR.ICPProperties.ICPProperties.

Member Function Documentation

◆ assign()

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

Generated from method MR.ICPProperties.operator=.

Property Documentation

◆ badIterStopCount

new unsafe ref int MR.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

new unsafe ref float MR.ICPProperties.cosThreshold
get

◆ distThresholdSq

new unsafe ref float MR.ICPProperties.distThresholdSq
get

◆ exitVal

new unsafe ref float MR.ICPProperties.exitVal
get

◆ farDistFactor

new unsafe ref float MR.ICPProperties.farDistFactor
get

◆ fixedRotationAxis

new unsafe ref MR.Vector3f MR.ICPProperties.fixedRotationAxis
get

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

◆ icpMode

new unsafe ref MR.ICPMode MR.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

new unsafe ref int MR.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

new unsafe ref MR.ICPMethod MR.ICPProperties.method
get

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

◆ mutualClosest

new unsafe ref bool MR.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

new unsafe ref float MR.ICPProperties.p2plAngleLimit
get

◆ p2plScaleLimit

new unsafe ref float MR.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: