mrmeshpy.MultiwayICP Class Reference

Public Member Functions
None	__init__ (self, Vector_MeshOrPointsXf_ObjId objects, MultiwayICPSamplingParameters samplingParams)
Vector_AffineXf3f_ObjId	calculateTransformations (self, func_bool_from_float cb='{}')
Vector_AffineXf3f_ObjId	calculateTransformationsFixFirst (self, func_bool_from_float cb='{}')
None	devEnableIndependentEquationsMode (self, bool on)
bool	devIndependentEquationsModeEnabled (self)
IICPTreeIndexer	getCascadeIndexer (self)
float	getMeanSqDistToPlane (self, std_optional_double value='{}')
float	getMeanSqDistToPoint (self, std_optional_double value='{}')
int	getNumActivePairs (self)
int	getNumSamples (self)
Vector_Vector_Vector_ICPGroupPairs_Id_ICPElemtTag_Id_ICPElemtTag_int	getPairsPerLayer (self)
ICPProperties	getParams (self)
str	getStatusInfo (self)
bool	resamplePoints (self, MultiwayICPSamplingParameters samplingParams)
None	setParams (self, ICPProperties prop)
None	setPerIterationCallback (self, func_void_from_int callback)
bool	updateAllPointPairs (self, func_bool_from_float cb='{}')

Static Public Attributes
	PairsPerLayer = Vector_Vector_Vector_ICPGroupPairs_Id_ICPElemtTag_Id_ICPElemtTag_int

Detailed Description

Generated from:  MR::MultiwayICP

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
\\snippet cpp-samples/GlobalRegistration.cpp 0

Constructor & Destructor Documentation

__init__()

None mrmeshpy.MultiwayICP.__init__	(		self,
		Vector_MeshOrPointsXf_ObjId	objects,
		MultiwayICPSamplingParameters	samplingParams )

Member Function Documentation

calculateTransformations()

Vector_AffineXf3f_ObjId mrmeshpy.MultiwayICP.calculateTransformations	(		self,
		func_bool_from_float	cb = '{}' )

runs ICP algorithm given input objects, transformations, and parameters;
\\return adjusted transformations of all objects to reach registered state
the transformation of the last object is fixed and does not change here

calculateTransformationsFixFirst()

Vector_AffineXf3f_ObjId mrmeshpy.MultiwayICP.calculateTransformationsFixFirst	(		self,
		func_bool_from_float	cb = '{}' )

runs ICP algorithm given input objects, transformations, and parameters;
\\return adjusted transformations of all objects to reach registered state
the transformation of the first object is fixed and does not change here

devEnableIndependentEquationsMode()

None mrmeshpy.MultiwayICP.devEnableIndependentEquationsMode	(		self,
		bool	on )

devIndependentEquationsModeEnabled()

bool mrmeshpy.MultiwayICP.devIndependentEquationsModeEnabled

(

self

)

if in independent equations mode - creates separate equation system for each object
otherwise creates single large equation system for all objects

getCascadeIndexer()

IICPTreeIndexer mrmeshpy.MultiwayICP.getCascadeIndexer

(

self

)

returns pointer to class that is used to navigate among layers of cascade registration
if nullptr - cascade mode is not used

getMeanSqDistToPlane()

float mrmeshpy.MultiwayICP.getMeanSqDistToPlane	(		self,
		std_optional_double	value = '{}' )

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

getMeanSqDistToPoint()

float mrmeshpy.MultiwayICP.getMeanSqDistToPoint	(		self,
		std_optional_double	value = '{}' )

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

getNumActivePairs()

int mrmeshpy.MultiwayICP.getNumActivePairs

(

self

)

computes the number of active point pairs

getNumSamples()

int mrmeshpy.MultiwayICP.getNumSamples

(

self

)

computes the number of samples able to form pairs

getPairsPerLayer()

Vector_Vector_Vector_ICPGroupPairs_Id_ICPElemtTag_Id_ICPElemtTag_int mrmeshpy.MultiwayICP.getPairsPerLayer

(

self

)

returns all pairs of all layers

getParams()

ICPProperties mrmeshpy.MultiwayICP.getParams

(

self

)

getStatusInfo()

str mrmeshpy.MultiwayICP.getStatusInfo

(

self

)

returns status info string

resamplePoints()

bool mrmeshpy.MultiwayICP.resamplePoints	(		self,
		MultiwayICPSamplingParameters	samplingParams )

select pairs with origin samples on all objects

setParams()

None mrmeshpy.MultiwayICP.setParams	(		self,
		ICPProperties	prop )

tune algorithm params before run calculateTransformations()

setPerIterationCallback()

None mrmeshpy.MultiwayICP.setPerIterationCallback	(		self,
		func_void_from_int	callback )

sets callback that will be called for each iteration

updateAllPointPairs()

bool mrmeshpy.MultiwayICP.updateAllPointPairs	(		self,
		func_bool_from_float	cb = '{}' )

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

Member Data Documentation

PairsPerLayer

mrmeshpy.MultiwayICP.PairsPerLayer = Vector_Vector_Vector_ICPGroupPairs_Id_ICPElemtTag_Id_ICPElemtTag_int

static

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

• mrmeshpy.pyi