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_BoolFuncFromFloat? cb=null)
	runs ICP algorithm given input objects, transformations, and parameters;
unsafe MR.Vector_MRAffineXf3f_MRObjId	calculateTransformationsFixFirst (MR.Std.Const_Function_BoolFuncFromFloat? 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_BoolFuncFromFloat? 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_VoidFuncFromInt 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.

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_BoolFuncFromFloat? 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_BoolFuncFromFloat? 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_VoidFuncFromInt 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_BoolFuncFromFloat? 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 {}.

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

• MRMultiwayICP.cs