MRMultiwayICP.h File Reference

#include "MRMeshFwd.h"
#include "MRGridSampling.h"
#include "MRICP.h"
#include "MRVector.h"

Go to the source code of this file.

Classes
struct	MRMultiwayICPSamplingParameters
	Parameters that are used for sampling of the MultiwayICP objects. More...

Typedefs
typedef MR_EXTERN_C_BEGIN enum MRMultiwayICPSamplingParametersCascadeMode	MRMultiwayICPSamplingParametersCascadeMode
typedef struct MRMultiwayICPSamplingParameters	MRMultiwayICPSamplingParameters
	Parameters that are used for sampling of the MultiwayICP objects.
typedef struct MRMultiwayICP	MRMultiwayICP

Enumerations
enum	MRMultiwayICPSamplingParametersCascadeMode { MRMultiwayICPSamplingParametersCascadeModeSequential = 0 , MRMultiwayICPSamplingParametersCascadeModeABBTreeBased }

Functions
MRMESHC_API MRMultiwayICPSamplingParameters	mrMultiwayIcpSamplingParametersNew (void)
	initializes a default instance
MRMESHC_API MRMultiwayICP *	mrMultiwayICPNew (const MRMeshOrPointsXf **objects, size_t objectsNum, const MRMultiwayICPSamplingParameters *samplingParams)
MRMESHC_API MRVectorAffineXf3f *	mrMultiwayICPCalculateTransformations (MRMultiwayICP *mwicp, MRProgressCallback cb)
MRMESHC_API bool	mrMultiwayICPResamplePoints (MRMultiwayICP *mwicp, const MRMultiwayICPSamplingParameters *samplingParams)
	select pairs with origin samples on all objects
MRMESHC_API bool	mrMultiwayICPUpdateAllPointPairs (MRMultiwayICP *mwicp, MRProgressCallback cb)
MRMESHC_API void	mrMultiwayICPSetParams (MRMultiwayICP *mwicp, const MRICPProperties *prop)
	tune algorithm params before run calculateTransformations()
MRMESHC_API float	mrMultiWayICPGetMeanSqDistToPoint (const MRMultiwayICP *mwicp, double *value)
MRMESHC_API float	mrMultiWayICPGetMeanSqDistToPlane (const MRMultiwayICP *mwicp, double *value)
MRMESHC_API size_t	mrMultiWayICPGetNumSamples (const MRMultiwayICP *mwicp)
	computes the number of samples able to form pairs
MRMESHC_API size_t	mrMultiWayICPGetNumActivePairs (const MRMultiwayICP *mwicp)
	computes the number of active point pairs
MRMESHC_API void	mrMultiwayICPFree (MRMultiwayICP *mwicp)
	deallocates a MultiwayICP object

Typedef Documentation

MRMultiwayICP

typedef struct MRMultiwayICP MRMultiwayICP

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

MRMultiwayICPSamplingParameters

typedef struct MRMultiwayICPSamplingParameters MRMultiwayICPSamplingParameters

Parameters that are used for sampling of the MultiwayICP objects.

MRMultiwayICPSamplingParametersCascadeMode

typedef MR_EXTERN_C_BEGIN enum MRMultiwayICPSamplingParametersCascadeMode MRMultiwayICPSamplingParametersCascadeMode

Enumeration Type Documentation

MRMultiwayICPSamplingParametersCascadeMode

enum MRMultiwayICPSamplingParametersCascadeMode

Enumerator
MRMultiwayICPSamplingParametersCascadeModeSequential	separates objects on groups based on their index in ICPObjects (good if all objects about the size of all objects together)
MRMultiwayICPSamplingParametersCascadeModeABBTreeBased	builds AABB tree based on each object bounding box and separates subtrees (good if each object much smaller then all objects together)

Function Documentation

mrMultiwayICPCalculateTransformations()

MRMESHC_API MRVectorAffineXf3f * mrMultiwayICPCalculateTransformations	(	MRMultiwayICP *	mwicp,
		MRProgressCallback	cb )

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

Returns

adjusted transformations of all objects to reach registered state

mrMultiwayICPFree()

MRMESHC_API void mrMultiwayICPFree

(

MRMultiwayICP *

mwicp

)

deallocates a MultiwayICP object

mrMultiWayICPGetMeanSqDistToPlane()

MRMESHC_API float mrMultiWayICPGetMeanSqDistToPlane	(	const MRMultiwayICP *	mwicp,
		double *	value )

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

mrMultiWayICPGetMeanSqDistToPoint()

MRMESHC_API float mrMultiWayICPGetMeanSqDistToPoint	(	const MRMultiwayICP *	mwicp,
		double *	value )

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

mrMultiWayICPGetNumActivePairs()

MRMESHC_API size_t mrMultiWayICPGetNumActivePairs

(

const MRMultiwayICP *

mwicp

)

computes the number of active point pairs

mrMultiWayICPGetNumSamples()

MRMESHC_API size_t mrMultiWayICPGetNumSamples

(

const MRMultiwayICP *

mwicp

)

computes the number of samples able to form pairs

mrMultiwayICPNew()

MRMESHC_API MRMultiwayICP * mrMultiwayICPNew	(	const MRMeshOrPointsXf **	objects,
		size_t	objectsNum,
		const MRMultiwayICPSamplingParameters *	samplingParams )

mrMultiwayICPResamplePoints()

MRMESHC_API bool mrMultiwayICPResamplePoints	(	MRMultiwayICP *	mwicp,
		const MRMultiwayICPSamplingParameters *	samplingParams )

select pairs with origin samples on all objects

mrMultiwayIcpSamplingParametersNew()

MRMESHC_API MRMultiwayICPSamplingParameters mrMultiwayIcpSamplingParametersNew

(

void

)

initializes a default instance

mrMultiwayICPSetParams()

MRMESHC_API void mrMultiwayICPSetParams	(	MRMultiwayICP *	mwicp,
		const MRICPProperties *	prop )

tune algorithm params before run calculateTransformations()

mrMultiwayICPUpdateAllPointPairs()

MRMESHC_API bool mrMultiwayICPUpdateAllPointPairs	(	MRMultiwayICP *	mwicp,
		MRProgressCallback	cb )

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