MRICP.h File Reference

#include "MRMeshFwd.h"
#include "MRAffineXf.h"
#include "MRId.h"
#include "MRMeshOrPoints.h"
#include "MRVector3.h"

Go to the source code of this file.

Classes
struct	MRICPPairData
struct	MRPointPair
	Stores a pair of points: one samples on the source and the closest to it on the target. More...
struct	MRICPProperties

Typedefs
typedef MR_EXTERN_C_BEGIN enum MRICPMethod	MRICPMethod
	The method how to update transformation from point pairs.
typedef enum MRICPMode	MRICPMode
	The group of transformations, each with its own degrees of freedom.
typedef struct MRICPPairData	MRICPPairData
typedef struct MRPointPair	MRPointPair
	Stores a pair of points: one samples on the source and the closest to it on the target.
typedef struct MRIPointPairs	MRIPointPairs
	Simple interface for pairs holder.
typedef struct MRPointPairs	MRPointPairs
typedef enum MRICPExitType	MRICPExitType
	types of exit conditions in calculation
typedef struct MRICPProperties	MRICPProperties
typedef struct MRICP	MRICP

Enumerations
enum	MRICPMethod { MRICPMethodCombined = 0 , MRICPMethodPointToPoint = 1 , MRICPMethodPointToPlane = 2 }
	The method how to update transformation from point pairs. More...
enum	MRICPMode {   MRICPModeRigidScale = 0 , MRICPModeAnyRigidXf , MRICPModeOrthogonalAxis , MRICPModeFixedAxis ,   MRICPModeTranslationOnly }
	The group of transformations, each with its own degrees of freedom. More...
enum	MRICPExitType {   MRICPExitTypeNotStarted = 0 , MRICPExitTypeNotFoundSolution , MRICPExitTypeMaxIterations , MRICPExitTypeMaxBadIterations ,   MRICPExitTypeStopMsdReached }
	types of exit conditions in calculation More...

Functions
MRMESHC_API const MRICPPairData *	mrIPointPairsGet (const MRIPointPairs *pp, size_t idx)
MRMESHC_API size_t	mrIPointPairsSize (const MRIPointPairs *pp)
MRMESHC_API MRICPPairData *	mrIPointPairsGetRef (MRIPointPairs *pp, size_t idx)
MRMESHC_API MRICPProperties	mrICPPropertiesNew (void)
	initializes a default instance
MRMESHC_API MRICP *	mrICPNew (const MRMeshOrPointsXf *flt, const MRMeshOrPointsXf *ref, float samplingVoxelSize)
	Constructs ICP framework with automatic points sampling on both objects.
MRMESHC_API MRICP *	mrICPNewFromSamples (const MRMeshOrPointsXf *flt, const MRMeshOrPointsXf *ref, const MRVertBitSet *fltSamples, const MRVertBitSet *refSamples)
	Constructs ICP framework with given sample points on both objects.
MRMESHC_API void	mrICPSetParams (MRICP *icp, const MRICPProperties *prop)
	tune algorithm params before run calculateTransformation()
MRMESHC_API void	mrICPSamplePoints (MRICP *icp, float samplingVoxelSize)
	select pairs with origin samples on both objects
MRMESHC_API MRAffineXf3f	mrICPAutoSelectFloatXf (MRICP *icp)
MRMESHC_API void	mrICPUpdatePointPairs (MRICP *icp)
	recompute point pairs after manual change of transformations or parameters
MRMESHC_API MRString *	mrICPGetStatusInfo (const MRICP *icp)
	returns status info string
MRMESHC_API size_t	mrICPGetNumSamples (const MRICP *icp)
	computes the number of samples able to form pairs
MRMESHC_API size_t	mrICPGetNumActivePairs (const MRICP *icp)
	computes the number of active point pairs
MRMESHC_API float	mrICPGetMeanSqDistToPoint (const MRICP *icp)
	computes root-mean-square deviation between points
MRMESHC_API float	mrICPGetMeanSqDistToPlane (const MRICP *icp)
	computes root-mean-square deviation from points to target planes
MRMESHC_API const MRIPointPairs *	mrICPGetFlt2RefPairs (const MRICP *icp)
	returns current pairs formed from samples on floating object and projections on reference object
MRMESHC_API const MRIPointPairs *	mrICPGetRef2FltPairs (const MRICP *icp)
	returns current pairs formed from samples on reference object and projections on floating object
MRMESHC_API MRAffineXf3f	mrICPCalculateTransformation (MRICP *icp)
MRMESHC_API void	mrICPFree (MRICP *icp)
	deallocates an ICP object

Typedef Documentation

MRICP

typedef struct MRICP MRICP

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

MRICPExitType

typedef enum MRICPExitType MRICPExitType

types of exit conditions in calculation

MRICPMethod

typedef MR_EXTERN_C_BEGIN enum MRICPMethod MRICPMethod

The method how to update transformation from point pairs.

MRICPMode

typedef enum MRICPMode MRICPMode

The group of transformations, each with its own degrees of freedom.

MRICPPairData

typedef struct MRICPPairData MRICPPairData

MRICPProperties

typedef struct MRICPProperties MRICPProperties

MRIPointPairs

typedef struct MRIPointPairs MRIPointPairs

Simple interface for pairs holder.

MRPointPair

typedef struct MRPointPair MRPointPair

Stores a pair of points: one samples on the source and the closest to it on the target.

MRPointPairs

typedef struct MRPointPairs MRPointPairs

Enumeration Type Documentation

MRICPExitType

enum MRICPExitType

types of exit conditions in calculation

Enumerator
MRICPExitTypeNotStarted	calculation is not started yet
MRICPExitTypeNotFoundSolution	solution not found in some iteration
MRICPExitTypeMaxIterations	iteration limit reached
MRICPExitTypeMaxBadIterations	limit of non-improvement iterations in a row reached
MRICPExitTypeStopMsdReached	stop mean square deviation reached

MRICPMethod

enum MRICPMethod

The method how to update transformation from point pairs.

Enumerator
MRICPMethodCombined	PointToPoint for the first 2 iterations, and PointToPlane for the remaining iterations.
MRICPMethodPointToPoint	select transformation that minimizes mean squared distance between two points in each pair, it is the safest approach but can converge slowly
MRICPMethodPointToPlane	select transformation that minimizes mean squared distance between a point and a plane via the other point in each pair, converge much faster than PointToPoint in case of many good (with not all points/normals in one plane) pairs

MRICPMode

enum MRICPMode

The group of transformations, each with its own degrees of freedom.

Enumerator
MRICPModeRigidScale	rigid body transformation with uniform scaling (7 degrees of freedom)
MRICPModeAnyRigidXf	rigid body transformation (6 degrees of freedom)
MRICPModeOrthogonalAxis	rigid body transformation with rotation except argument axis (5 degrees of freedom)
MRICPModeFixedAxis	rigid body transformation with rotation around given axis only (4 degrees of freedom)
MRICPModeTranslationOnly	only translation (3 degrees of freedom)

Function Documentation

mrICPAutoSelectFloatXf()

MRMESHC_API MRAffineXf3f mrICPAutoSelectFloatXf

(

MRICP *

icp

)

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

mrICPCalculateTransformation()

MRMESHC_API MRAffineXf3f mrICPCalculateTransformation

(

MRICP *

icp

)

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

Returns

adjusted transformation of the floating object to match reference object

mrICPFree()

MRMESHC_API void mrICPFree

(

MRICP *

icp

)

deallocates an ICP object

mrICPGetFlt2RefPairs()

MRMESHC_API const MRIPointPairs * mrICPGetFlt2RefPairs

(

const MRICP *

icp

)

returns current pairs formed from samples on floating object and projections on reference object

mrICPGetMeanSqDistToPlane()

MRMESHC_API float mrICPGetMeanSqDistToPlane

(

const MRICP *

icp

)

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

mrICPGetMeanSqDistToPoint()

MRMESHC_API float mrICPGetMeanSqDistToPoint

(

const MRICP *

icp

)

computes root-mean-square deviation between points

mrICPGetNumActivePairs()

MRMESHC_API size_t mrICPGetNumActivePairs

(

const MRICP *

icp

)

computes the number of active point pairs

mrICPGetNumSamples()

MRMESHC_API size_t mrICPGetNumSamples

(

const MRICP *

icp

)

computes the number of samples able to form pairs

mrICPGetRef2FltPairs()

MRMESHC_API const MRIPointPairs * mrICPGetRef2FltPairs

(

const MRICP *

icp

)

returns current pairs formed from samples on reference object and projections on floating object

mrICPGetStatusInfo()

MRMESHC_API MRString * mrICPGetStatusInfo

(

const MRICP *

icp

)

returns status info string

mrICPNew()

MRMESHC_API MRICP * mrICPNew	(	const MRMeshOrPointsXf *	flt,
		const MRMeshOrPointsXf *	ref,
		float	samplingVoxelSize )

Constructs ICP framework with automatic points sampling on both objects.

mrICPNewFromSamples()

MRMESHC_API MRICP * mrICPNewFromSamples	(	const MRMeshOrPointsXf *	flt,
		const MRMeshOrPointsXf *	ref,
		const MRVertBitSet *	fltSamples,
		const MRVertBitSet *	refSamples )

Constructs ICP framework with given sample points on both objects.

mrICPPropertiesNew()

MRMESHC_API MRICPProperties mrICPPropertiesNew

(

void

)

initializes a default instance

mrICPSamplePoints()

MRMESHC_API void mrICPSamplePoints	(	MRICP *	icp,
		float	samplingVoxelSize )

select pairs with origin samples on both objects

mrICPSetParams()

MRMESHC_API void mrICPSetParams	(	MRICP *	icp,
		const MRICPProperties *	prop )

tune algorithm params before run calculateTransformation()

mrICPUpdatePointPairs()

MRMESHC_API void mrICPUpdatePointPairs

(

MRICP *

icp

)

recompute point pairs after manual change of transformations or parameters

mrIPointPairsGet()

MRMESHC_API const MRICPPairData * mrIPointPairsGet	(	const MRIPointPairs *	pp,
		size_t	idx )

mrIPointPairsGetRef()

MRMESHC_API MRICPPairData * mrIPointPairsGetRef	(	MRIPointPairs *	pp,
		size_t	idx )

mrIPointPairsSize()

MRMESHC_API size_t mrIPointPairsSize

(

const MRIPointPairs *

pp

)