MultiwayICP Class Reference

Public Member Functions
	MultiwayICP (readonly MeshOrPointsXf objects, MultiwayICPSamplingParameters params)
AffineXf3f	calculateTransformations ()
boolean	resamplePoints (MultiwayICPSamplingParameters samplingParams)
	select pairs with origin samples on all objects
boolean	updateAllPointPairs ()
void	setParams (ICPProperties prop)
	tune algorithm params before run calculateTransformations()
ICPProperties	getParams ()
number	getMeanSqDistToPoint ()
number	getMeanSqDistToPlane ()
number	getNumSamples ()
	computes the number of samples able to form pairs
number	getNumActivePairs ()
	computes the number of active point pairs
string	getStatusInfo ()
	returns status info string

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

Constructor & Destructor Documentation

MultiwayICP()

MultiwayICP::MultiwayICP	(	readonly MeshOrPointsXf	objects,
		MultiwayICPSamplingParameters	params )

Member Function Documentation

calculateTransformations()

AffineXf3f MultiwayICP::calculateTransformations

(

)

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

getMeanSqDistToPlane()

number MultiwayICP::getMeanSqDistToPlane

(

)

computes root-mean-square deviation from points to target planes or the standard deviation from given value if present

getMeanSqDistToPoint()

number MultiwayICP::getMeanSqDistToPoint

(

)

computes root-mean-square deviation between points or the standard deviation from given value if present

getNumActivePairs()

number MultiwayICP::getNumActivePairs

(

)

computes the number of active point pairs

getNumSamples()

number MultiwayICP::getNumSamples

(

)

computes the number of samples able to form pairs

getParams()

ICPProperties MultiwayICP::getParams

(

)

getStatusInfo()

string MultiwayICP::getStatusInfo

(

)

returns status info string

resamplePoints()

boolean MultiwayICP::resamplePoints

(

MultiwayICPSamplingParameters

samplingParams

)

select pairs with origin samples on all objects

setParams()

void MultiwayICP::setParams

(

ICPProperties

prop

)

tune algorithm params before run calculateTransformations()

updateAllPointPairs()

boolean MultiwayICP::updateAllPointPairs

(

)

in each pair updates the target data and performs basic filtering (activation) in cascade mode only useful for stats update

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

• bindings.d.mts