#include <MRMesh/MRICP.h>

Public Member Functions
	ICP (const MeshOrPoints &flt, const MeshOrPoints &ref, const AffineXf3f &fltXf, const AffineXf3f &refXf, const VertBitSet &fltSamples={}, const VertBitSet &refSamples={})
	ICP (const MeshOrPointsXf &flt, const MeshOrPointsXf &ref, const VertBitSet &fltSamples={}, const VertBitSet &refSamples={})
	ICP (const MeshOrPoints &flt, const MeshOrPoints &ref, const AffineXf3f &fltXf, const AffineXf3f &refXf, float samplingVoxelSize)
	ICP (const MeshOrPointsXf &flt, const MeshOrPointsXf &ref, float samplingVoxelSize)
void	setParams (const ICPProperties &prop)
	tune algorithm params before run calculateTransformation()
void	setCosineLimit (const float cos)
void	setDistanceLimit (const float dist)
void	setBadIterCount (const int iter)
void	setFarDistFactor (const float factor)
void	setFltSamples (const VertBitSet &fltSamples)
	select pairs with origin samples on floating object
void	sampleFltPoints (float samplingVoxelSize)
void	setRefSamples (const VertBitSet &refSamples)
	select pairs with origin samples on reference object
void	sampleRefPoints (float samplingVoxelSize)
void	samplePoints (float samplingVoxelSize)
	select pairs with origin samples on both objects
MR_BIND_IGNORE void	recomputeBitSet (float fltSamplingVoxelSize)
void	setXfs (const AffineXf3f &fltXf, const AffineXf3f &refXf)
	sets to-world transformations both for floating and reference objects
void	setFloatXf (const AffineXf3f &fltXf)
	sets to-world transformation for the floating object
AffineXf3f	autoSelectFloatXf ()
void	updatePointPairs ()
	recompute point pairs after manual change of transformations or parameters
const ICPProperties &	getParams () const
std::string	getStatusInfo () const
size_t	getNumSamples () const
	returns status info string
size_t	getNumActivePairs () const
	computes the number of active point pairs
float	getMeanSqDistToPoint () const
	computes root-mean-square deviation between points
float	getMeanSqDistToPlane () const
	computes root-mean-square deviation from points to target planes
const PointPairs &	getFlt2RefPairs () const
	returns current pairs formed from samples on floating object and projections on reference object
const PointPairs &	getRef2FltPairs () const
	returns current pairs formed from samples on reference object and projections on floating object
AffineXf3f	calculateTransformation ()

Detailed Description

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

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

MRMesh/MRICP.h

Public Member Functions

Detailed Description