ICP Class Reference

Public Member Functions
	ICP (MeshOrPointsXf flt, MeshOrPointsXf ref, number samplingVoxelSize)
	ICP (MeshOrPointsXf flt, MeshOrPointsXf ref, VertBitSet fltSamples, VertBitSet refSamples)
void	setParams (ICPProperties prop)
	tune algorithm params before run calculateTransformation()
void	samplePoints (number samplingVoxelSize)
	select pairs with origin samples on both objects
AffineXf3f	autoSelectFloatXf ()
void	updatePointPairs ()
	recompute point pairs after manual change of transformations or parameters
string	getStatusInfo ()
number	getNumSamples ()
	computes the number of samples able to form pairs
number	getNumActivePairs ()
	computes the number of active point pairs
number	getMeanSqDistToPoint ()
	computes root-mean-square deviation between points
number	getMeanSqDistToPlane ()
	computes root-mean-square deviation from points to target planes
AffineXf3f	calculateTransformation ()

Detailed Description

This class allows you to register two object with similar shape using Iterative Closest Points (ICP) point-to-point or point-to-plane algorithms

Constructor & Destructor Documentation

ICP() [1/2]

ICP::ICP	(	MeshOrPointsXf	flt,
		MeshOrPointsXf	ref,
		number	samplingVoxelSize )

ICP() [2/2]

ICP::ICP	(	MeshOrPointsXf	flt,
		MeshOrPointsXf	ref,
		VertBitSet	fltSamples,
		VertBitSet	refSamples )

Member Function Documentation

autoSelectFloatXf()

AffineXf3f ICP::autoSelectFloatXf

(

)

automatically selects initial transformation for the floating object based on covariance matrices of both floating and reference objects; applies the transformation to the floating object and returns it

calculateTransformation()

AffineXf3f ICP::calculateTransformation

(

)

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

Returns

adjusted transformation of the floating object to match reference object

getMeanSqDistToPlane()

number ICP::getMeanSqDistToPlane

(

)

computes root-mean-square deviation from points to target planes

getMeanSqDistToPoint()

number ICP::getMeanSqDistToPoint

(

)

computes root-mean-square deviation between points

getNumActivePairs()

number ICP::getNumActivePairs

(

)

computes the number of active point pairs

getNumSamples()

number ICP::getNumSamples

(

)

computes the number of samples able to form pairs

getStatusInfo()

string ICP::getStatusInfo

(

)

samplePoints()

void ICP::samplePoints

(

number

samplingVoxelSize

)

select pairs with origin samples on both objects

setParams()

void ICP::setParams

(

ICPProperties

prop

)

tune algorithm params before run calculateTransformation()

updatePointPairs()

void ICP::updatePointPairs

(

)

recompute point pairs after manual change of transformations or parameters

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

• bindings.d.mts