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

This class allows you to register many objects having similar parts and known initial approximations of orientations/locations using Iterative Closest Points (ICP) point-to-point or point-to-plane algorithms. More...

Inheritance diagram for MR.MultiwayICP:

Public Member Functions

unsafe MultiwayICP (MR._ByValue_MultiwayICP _other)
 Generated from constructor MR.MultiwayICP.MultiwayICP.
unsafe MultiwayICP (MR.Const_Vector_MRMeshOrPointsXf_MRObjId objects, MR.Const_MultiwayICPSamplingParameters samplingParams)
 Generated from constructor MR.MultiwayICP.MultiwayICP.
unsafe MR.MultiwayICP assign (MR._ByValue_MultiwayICP _other)
 Generated from method MR::MultiwayICP::operator=.
unsafe MR.Vector_MRAffineXf3f_MRObjId calculateTransformations (MR.Std.Const_Function_Bool_From_Float? cb=null)
 runs ICP algorithm given input objects, transformations, and parameters;
unsafe MR.Vector_MRAffineXf3f_MRObjId calculateTransformationsFixFirst (MR.Std.Const_Function_Bool_From_Float? cb=null)
 runs ICP algorithm given input objects, transformations, and parameters;
unsafe bool resamplePoints (MR.Const_MultiwayICPSamplingParameters samplingParams)
 select pairs with origin samples on all objects Generated from method MR.MultiwayICP.resamplePoints.
unsafe bool updateAllPointPairs (MR.Std.Const_Function_Bool_From_Float? cb=null)
 in each pair updates the target data and performs basic filtering (activation) in cascade mode only useful for stats update Generated from method MR.MultiwayICP.updateAllPointPairs. Parameter cb defaults to {}.
unsafe void setParams (MR.Const_ICPProperties prop)
 tune algorithm params before run calculateTransformations() Generated from method MR.MultiwayICP.setParams.
unsafe void setPerIterationCallback (MR.Std._ByValue_Function_Void_From_Int callback)
 sets callback that will be called for each iteration Generated from method MR.MultiwayICP.setPerIterationCallback.
unsafe void devEnableIndependentEquationsMode (bool on)
 Generated from method MR.MultiwayICP.devEnableIndependentEquationsMode.
Public Member Functions inherited from MR.Const_MultiwayICP
virtual void Dispose ()
unsafe Const_MultiwayICP (MR._ByValue_MultiwayICP _other)
 Generated from constructor MR.MultiwayICP.MultiwayICP.
unsafe Const_MultiwayICP (MR.Const_Vector_MRMeshOrPointsXf_MRObjId objects, MR.Const_MultiwayICPSamplingParameters samplingParams)
 Generated from constructor MR.MultiwayICP.MultiwayICP.
unsafe MR.Const_ICPProperties getParams ()
 Generated from method MR.MultiwayICP.getParams.
unsafe float getMeanSqDistToPoint (double? value=null)
 computes root-mean-square deviation between points or the standard deviation from given value if present Generated from method MR.MultiwayICP.getMeanSqDistToPoint.
unsafe float getMeanSqDistToPlane (double? value=null)
 computes root-mean-square deviation from points to target planes or the standard deviation from given value if present Generated from method MR.MultiwayICP.getMeanSqDistToPlane.
unsafe ulong getNumSamples ()
 computes the number of samples able to form pairs Generated from method MR.MultiwayICP.getNumSamples.
unsafe ulong getNumActivePairs ()
 computes the number of active point pairs Generated from method MR.MultiwayICP.getNumActivePairs.
unsafe bool devIndependentEquationsModeEnabled ()
 if in independent equations mode - creates separate equation system for each object otherwise creates single large equation system for all objects Generated from method MR.MultiwayICP.devIndependentEquationsModeEnabled.
unsafe MR.Std.String getStatusInfo ()
 returns status info string Generated from method MR.MultiwayICP.getStatusInfo.
unsafe MR.Const_Vector_MRVectorMRVectorMRICPGroupPairsMRIdMRICPElemtTagMRIdMRICPElemtTag_Int getPairsPerLayer ()
 returns all pairs of all layers Generated from method MR.MultiwayICP.getPairsPerLayer.
unsafe MR.? Const_IICPTreeIndexer getCascadeIndexer ()
 returns pointer to class that is used to navigate among layers of cascade registration if nullptr - cascade mode is not used Generated from method MR.MultiwayICP.getCascadeIndexer.

Additional Inherited Members

Protected Member Functions inherited from MR.Const_MultiwayICP
virtual unsafe void Dispose (bool disposing)

Detailed Description

This class allows you to register many objects having similar parts and known initial approximations of orientations/locations using Iterative Closest Points (ICP) point-to-point or point-to-plane algorithms.

Generated from class MR.MultiwayICP. This is the non-const half of the class.

Constructor & Destructor Documentation

◆ MultiwayICP() [1/2]

unsafe MR.MultiwayICP.MultiwayICP ( MR._ByValue_MultiwayICP _other)
inline

Generated from constructor MR.MultiwayICP.MultiwayICP.

◆ MultiwayICP() [2/2]

unsafe MR.MultiwayICP.MultiwayICP ( MR.Const_Vector_MRMeshOrPointsXf_MRObjId objects,
MR.Const_MultiwayICPSamplingParameters samplingParams )
inline

Generated from constructor MR.MultiwayICP.MultiwayICP.

Member Function Documentation

◆ assign()

unsafe MR.MultiwayICP MR.MultiwayICP.assign ( MR._ByValue_MultiwayICP _other)
inline

Generated from method MR::MultiwayICP::operator=.

◆ calculateTransformations()

unsafe MR.Vector_MRAffineXf3f_MRObjId MR.MultiwayICP.calculateTransformations ( MR.Std.Const_Function_Bool_From_Float? cb = null)
inline

runs ICP algorithm given input objects, transformations, and parameters;

Returns
adjusted transformations of all objects to reach registered state the transformation of the last object is fixed and does not change here Generated from method MR.MultiwayICP.calculateTransformations. Parameter cb defaults to {}.

◆ calculateTransformationsFixFirst()

unsafe MR.Vector_MRAffineXf3f_MRObjId MR.MultiwayICP.calculateTransformationsFixFirst ( MR.Std.Const_Function_Bool_From_Float? cb = null)
inline

runs ICP algorithm given input objects, transformations, and parameters;

Returns
adjusted transformations of all objects to reach registered state the transformation of the first object is fixed and does not change here Generated from method MR.MultiwayICP.calculateTransformationsFixFirst. Parameter cb defaults to {}.

◆ devEnableIndependentEquationsMode()

unsafe void MR.MultiwayICP.devEnableIndependentEquationsMode ( bool on)
inline

Generated from method MR.MultiwayICP.devEnableIndependentEquationsMode.

◆ resamplePoints()

unsafe bool MR.MultiwayICP.resamplePoints ( MR.Const_MultiwayICPSamplingParameters samplingParams)
inline

select pairs with origin samples on all objects Generated from method MR.MultiwayICP.resamplePoints.

◆ setParams()

unsafe void MR.MultiwayICP.setParams ( MR.Const_ICPProperties prop)
inline

tune algorithm params before run calculateTransformations() Generated from method MR.MultiwayICP.setParams.

◆ setPerIterationCallback()

unsafe void MR.MultiwayICP.setPerIterationCallback ( MR.Std._ByValue_Function_Void_From_Int callback)
inline

sets callback that will be called for each iteration Generated from method MR.MultiwayICP.setPerIterationCallback.

◆ updateAllPointPairs()

unsafe bool MR.MultiwayICP.updateAllPointPairs ( MR.Std.Const_Function_Bool_From_Float? cb = null)
inline

in each pair updates the target data and performs basic filtering (activation) in cascade mode only useful for stats update Generated from method MR.MultiwayICP.updateAllPointPairs. Parameter cb defaults to {}.

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