MR::ICP Class Reference

#include <MRICP.h>

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

Constructor & Destructor Documentation

ICP() [1/4]

MR::ICP::ICP ( const MeshOrPoints & flt, const MeshOrPoints & ref, const AffineXf3f & fltXf, const AffineXf3f & refXf, const VertBitSet & fltSamples = {}, const VertBitSet & refSamples = {} )

inline

Constructs ICP framework with given sample points on both objects

Parameters

flt	floating object
ref	reference object
fltXf	transformation from floating object space to global space
refXf	transformation from reference object space to global space
fltSamples	samples on floating object to find projections on the reference object during the algorithm
refSamples	samples on reference object to find projections on the floating object during the algorithm

ICP() [2/4]

MRMESH_API MR::ICP::ICP	(	const MeshOrPointsXf &	flt,
		const MeshOrPointsXf &	ref,
		const VertBitSet &	fltSamples = {},
		const VertBitSet &	refSamples = {} )

ICP() [3/4]

MRMESH_API MR::ICP::ICP ( const MeshOrPoints & flt, const MeshOrPoints & ref, const AffineXf3f & fltXf, const AffineXf3f & refXf, float samplingVoxelSize )

inline

Constructs ICP framework with automatic points sampling on both objects

Parameters

flt	floating object
ref	reference object
fltXf	transformation from floating object space to global space
refXf	transformation from reference object space to global space
samplingVoxelSize	approximate distance between samples on each of two objects

ICP() [4/4]

MRMESH_API MR::ICP::ICP	(	const MeshOrPointsXf &	flt,
		const MeshOrPointsXf &	ref,
		float	samplingVoxelSize )

Member Function Documentation

autoSelectFloatXf()

MRMESH_API AffineXf3f MR::ICP::autoSelectFloatXf

(

)

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()

MRMESH_API AffineXf3f MR::ICP::calculateTransformation ( )

nodiscard

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

Returns

adjusted transformation of the floating object to match reference object

getFlt2RefPairs()

const PointPairs & MR::ICP::getFlt2RefPairs ( ) const

inlinenodiscard

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

getMeanSqDistToPlane()

MRMESH_API float MR::ICP::getMeanSqDistToPlane ( ) const

nodiscard

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

getMeanSqDistToPoint()

MRMESH_API float MR::ICP::getMeanSqDistToPoint ( ) const

nodiscard

computes root-mean-square deviation between points

getNumActivePairs()

size_t MR::ICP::getNumActivePairs ( ) const

inlinenodiscard

computes the number of active point pairs

getNumSamples()

size_t MR::ICP::getNumSamples ( ) const

inlinenodiscard

computes the number of samples able to form pairs

getParams()

const ICPProperties & MR::ICP::getParams ( ) const

inlinenodiscard

getRef2FltPairs()

const PointPairs & MR::ICP::getRef2FltPairs ( ) const

inlinenodiscard

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

getStatusInfo()

MRMESH_API std::string MR::ICP::getStatusInfo ( ) const

nodiscard

recomputeBitSet()

void MR::ICP::recomputeBitSet ( float fltSamplingVoxelSize )

inline

sampleFltPoints()

MRMESH_API void MR::ICP::sampleFltPoints

(

float

samplingVoxelSize

)

samplePoints()

void MR::ICP::samplePoints ( float samplingVoxelSize )

inline

select pairs with origin samples on both objects

sampleRefPoints()

MRMESH_API void MR::ICP::sampleRefPoints

(

float

samplingVoxelSize

)

setBadIterCount()

MRMESH_API void MR::ICP::setBadIterCount

(

const int

iter

)

setCosineLimit()

MRMESH_API void MR::ICP::setCosineLimit

(

const float

cos

)

setDistanceLimit()

MRMESH_API void MR::ICP::setDistanceLimit

(

const float

dist

)

setFarDistFactor()

MRMESH_API void MR::ICP::setFarDistFactor

(

const float

factor

)

setFloatXf()

MRMESH_API void MR::ICP::setFloatXf

(

const AffineXf3f &

fltXf

)

sets to-world transformation for the floating object

setFltSamples()

MRMESH_API void MR::ICP::setFltSamples

(

const VertBitSet &

fltSamples

)

select pairs with origin samples on floating object

setParams()

void MR::ICP::setParams ( const ICPProperties & prop )

inline

tune algorithm params before run calculateTransformation()

setRefSamples()

MRMESH_API void MR::ICP::setRefSamples

(

const VertBitSet &

refSamples

)

select pairs with origin samples on reference object

setXfs()

MRMESH_API void MR::ICP::setXfs	(	const AffineXf3f &	fltXf,
		const AffineXf3f &	refXf )

sets to-world transformations both for floating and reference objects

updatePointPairs()

MRMESH_API void MR::ICP::updatePointPairs

(

)

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:

• MRMesh/MRICP.h