meshlib.mrmeshpy.ICP Class Reference

Public Member Functions
None	__init__ (self, MeshOrPoints flt, MeshOrPoints ref, AffineXf3f fltXf, AffineXf3f refXf, VertBitSet fltSamples='MR::VertBitSet{}', VertBitSet refSamples='MR::VertBitSet{}')
None	__init__ (self, MeshOrPointsXf flt, MeshOrPointsXf ref, VertBitSet fltSamples='MR::VertBitSet{}', VertBitSet refSamples='MR::VertBitSet{}')
None	__init__ (self, MeshOrPoints flt, MeshOrPoints ref, AffineXf3f fltXf, AffineXf3f refXf, float samplingVoxelSize)
None	__init__ (self, MeshOrPointsXf flt, MeshOrPointsXf ref, float samplingVoxelSize)
None	__init__ (self, ICP arg0)
AffineXf3f	autoSelectFloatXf (self)
AffineXf3f	calculateTransformation (self)
PointPairs	getFlt2RefPairs (self)
str	getLastICPInfo (self)
float	getMeanSqDistToPlane (self)
float	getMeanSqDistToPoint (self)
int	getNumActivePairs (self)
int	getNumSamples (self)
ICPProperties	getParams (self)
PointPairs	getRef2FltPairs (self)
str	getStatusInfo (self)
None	recomputeBitSet (self, float fltSamplingVoxelSize)
None	sampleFltPoints (self, float samplingVoxelSize)
None	samplePoints (self, float samplingVoxelSize)
None	sampleRefPoints (self, float samplingVoxelSize)
None	setBadIterCount (self, int iter)
None	setCosineLimit (self, float cos)
None	setDistanceLimit (self, float dist)
None	setFarDistFactor (self, float factor)
None	setFloatXf (self, AffineXf3f fltXf)
None	setFltSamples (self, VertBitSet fltSamples)
None	setParams (self, ICPProperties prop)
None	setRefSamples (self, VertBitSet refSamples)
None	setXfs (self, AffineXf3f fltXf, AffineXf3f refXf)
None	updatePointPairs (self)

Detailed Description

Generated from:  MR::ICP

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

__init__() [1/5]

None meshlib.mrmeshpy.ICP.__init__	(		self,
		MeshOrPoints	flt,
		MeshOrPoints	ref,
		AffineXf3f	fltXf,
		AffineXf3f	refXf,
		VertBitSet	fltSamples = 'MR::VertBitSet{}',
		VertBitSet	refSamples = 'MR::VertBitSet{}' )

Constructs ICP framework with given sample points on both objects
\\param flt floating object
\\param ref reference object
\\param fltXf transformation from floating object space to global space
\\param refXf transformation from reference object space to global space
\\param fltSamples samples on floating object to find projections on the reference object during the algorithm
\\param refSamples samples on reference object to find projections on the floating object during the algorithm

__init__() [2/5]

None meshlib.mrmeshpy.ICP.__init__	(		self,
		MeshOrPointsXf	flt,
		MeshOrPointsXf	ref,
		VertBitSet	fltSamples = 'MR::VertBitSet{}',
		VertBitSet	refSamples = 'MR::VertBitSet{}' )

__init__() [3/5]

None meshlib.mrmeshpy.ICP.__init__	(		self,
		MeshOrPoints	flt,
		MeshOrPoints	ref,
		AffineXf3f	fltXf,
		AffineXf3f	refXf,
		float	samplingVoxelSize )

Constructs ICP framework with automatic points sampling on both objects
\\param flt floating object
\\param ref reference object
\\param fltXf transformation from floating object space to global space
\\param refXf transformation from reference object space to global space
\\param samplingVoxelSize approximate distance between samples on each of two objects

__init__() [4/5]

None meshlib.mrmeshpy.ICP.__init__	(		self,
		MeshOrPointsXf	flt,
		MeshOrPointsXf	ref,
		float	samplingVoxelSize )

__init__() [5/5]

None meshlib.mrmeshpy.ICP.__init__	(		self,
		ICP	arg0 )

Implicit copy constructor.

Member Function Documentation

autoSelectFloatXf()

AffineXf3f meshlib.mrmeshpy.ICP.autoSelectFloatXf

(

self

)

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 meshlib.mrmeshpy.ICP.calculateTransformation

(

self

)

runs ICP algorithm given input objects, transformations, and parameters;
\\return adjusted transformation of the floating object to match reference object

getFlt2RefPairs()

PointPairs meshlib.mrmeshpy.ICP.getFlt2RefPairs

(

self

)

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

getLastICPInfo()

str meshlib.mrmeshpy.ICP.getLastICPInfo

(

self

)

getMeanSqDistToPlane()

float meshlib.mrmeshpy.ICP.getMeanSqDistToPlane

(

self

)

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

getMeanSqDistToPoint()

float meshlib.mrmeshpy.ICP.getMeanSqDistToPoint

(

self

)

computes root-mean-square deviation between points

getNumActivePairs()

int meshlib.mrmeshpy.ICP.getNumActivePairs

(

self

)

computes the number of active point pairs

getNumSamples()

int meshlib.mrmeshpy.ICP.getNumSamples

(

self

)

computes the number of samples able to form pairs

getParams()

ICPProperties meshlib.mrmeshpy.ICP.getParams

(

self

)

getRef2FltPairs()

PointPairs meshlib.mrmeshpy.ICP.getRef2FltPairs

(

self

)

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

getStatusInfo()

str meshlib.mrmeshpy.ICP.getStatusInfo

(

self

)

recomputeBitSet()

None meshlib.mrmeshpy.ICP.recomputeBitSet	(		self,
		float	fltSamplingVoxelSize )

sampleFltPoints()

None meshlib.mrmeshpy.ICP.sampleFltPoints	(		self,
		float	samplingVoxelSize )

samplePoints()

None meshlib.mrmeshpy.ICP.samplePoints	(		self,
		float	samplingVoxelSize )

select pairs with origin samples on both objects

sampleRefPoints()

None meshlib.mrmeshpy.ICP.sampleRefPoints	(		self,
		float	samplingVoxelSize )

setBadIterCount()

None meshlib.mrmeshpy.ICP.setBadIterCount	(		self,
		int	iter )

setCosineLimit()

None meshlib.mrmeshpy.ICP.setCosineLimit	(		self,
		float	cos )

setDistanceLimit()

None meshlib.mrmeshpy.ICP.setDistanceLimit	(		self,
		float	dist )

setFarDistFactor()

None meshlib.mrmeshpy.ICP.setFarDistFactor	(		self,
		float	factor )

setFloatXf()

None meshlib.mrmeshpy.ICP.setFloatXf	(		self,
		AffineXf3f	fltXf )

sets to-world transformation for the floating object

setFltSamples()

None meshlib.mrmeshpy.ICP.setFltSamples	(		self,
		VertBitSet	fltSamples )

select pairs with origin samples on floating object

setParams()

None meshlib.mrmeshpy.ICP.setParams	(		self,
		ICPProperties	prop )

tune algorithm params before run calculateTransformation()

setRefSamples()

None meshlib.mrmeshpy.ICP.setRefSamples	(		self,
		VertBitSet	refSamples )

select pairs with origin samples on reference object

setXfs()

None meshlib.mrmeshpy.ICP.setXfs	(		self,
		AffineXf3f	fltXf,
		AffineXf3f	refXf )

sets to-world transformations both for floating and reference objects

updatePointPairs()

None meshlib.mrmeshpy.ICP.updatePointPairs

(

self

)

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:

• mrmeshpy.pyi