MR::MultiwayICP Class Reference

#include <MRMultiwayICP.h>

Public Types
using	PairsPerLayer = Vector<ICPPairsGrid, ICPLayer>

Public Member Functions
MRMESH_API	MultiwayICP (const ICPObjects &objects, const MultiwayICPSamplingParameters &samplingParams)
MRMESH_API Vector< AffineXf3f, ObjId >	calculateTransformations (ProgressCallback cb={})
MRMESH_API Vector< AffineXf3f, ObjId >	calculateTransformationsFixFirst (ProgressCallback cb={})
MRMESH_API bool	resamplePoints (const MultiwayICPSamplingParameters &samplingParams)
	select pairs with origin samples on all objects
MRMESH_API bool	updateAllPointPairs (ProgressCallback cb={})
void	setParams (const ICPProperties &prop)
	tune algorithm params before run calculateTransformations()
const ICPProperties &	getParams () const
MRMESH_API float	getMeanSqDistToPoint (double *value=nullptr) const
MRMESH_API float	getMeanSqDistToPlane (double *value=nullptr) const
MRMESH_API size_t	getNumSamples () const
	computes the number of samples able to form pairs
MRMESH_API size_t	getNumActivePairs () const
	computes the number of active point pairs
void	setPerIterationCallback (std::function< void(int inter)> callback)
	sets callback that will be called for each iteration
bool	devIndependentEquationsModeEnabled () const
void	devEnableIndependentEquationsMode (bool on)
MRMESH_API std::string	getStatusInfo () const
	returns status info string
const PairsPerLayer &	getPairsPerLayer () const
	returns all pairs of all layers
const IICPTreeIndexer *	getCascadeIndexer () const

Detailed Description

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

Member Typedef Documentation

PairsPerLayer

using MR::MultiwayICP::PairsPerLayer = Vector<ICPPairsGrid, ICPLayer>

Constructor & Destructor Documentation

MultiwayICP()

MRMESH_API MR::MultiwayICP::MultiwayICP	(	const ICPObjects &	objects,
		const MultiwayICPSamplingParameters &	samplingParams )

Member Function Documentation

calculateTransformations()

MRMESH_API Vector< AffineXf3f, ObjId > MR::MultiwayICP::calculateTransformations ( ProgressCallback cb = {} )

nodiscard

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

Returns

adjusted transformations of all objects to reach registered state the transformation of the last object is fixed and does not change here

calculateTransformationsFixFirst()

MRMESH_API Vector< AffineXf3f, ObjId > MR::MultiwayICP::calculateTransformationsFixFirst ( ProgressCallback cb = {} )

nodiscard

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

Returns

adjusted transformations of all objects to reach registered state the transformation of the first object is fixed and does not change here

devEnableIndependentEquationsMode()

void MR::MultiwayICP::devEnableIndependentEquationsMode ( bool on )

inline

devIndependentEquationsModeEnabled()

bool MR::MultiwayICP::devIndependentEquationsModeEnabled ( ) const

inline

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

getCascadeIndexer()

const IICPTreeIndexer * MR::MultiwayICP::getCascadeIndexer ( ) const

inline

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

getMeanSqDistToPlane()

MRMESH_API float MR::MultiwayICP::getMeanSqDistToPlane ( double * value = nullptr ) const

nodiscard

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

getMeanSqDistToPoint()

MRMESH_API float MR::MultiwayICP::getMeanSqDistToPoint ( double * value = nullptr ) const

nodiscard

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

getNumActivePairs()

MRMESH_API size_t MR::MultiwayICP::getNumActivePairs ( ) const

nodiscard

computes the number of active point pairs

getNumSamples()

MRMESH_API size_t MR::MultiwayICP::getNumSamples ( ) const

nodiscard

computes the number of samples able to form pairs

getPairsPerLayer()

const PairsPerLayer & MR::MultiwayICP::getPairsPerLayer ( ) const

inline

returns all pairs of all layers

getParams()

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

inlinenodiscard

getStatusInfo()

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

nodiscard

returns status info string

resamplePoints()

MRMESH_API bool MR::MultiwayICP::resamplePoints

(

const MultiwayICPSamplingParameters &

samplingParams

)

select pairs with origin samples on all objects

setParams()

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

inline

tune algorithm params before run calculateTransformations()

setPerIterationCallback()

void MR::MultiwayICP::setPerIterationCallback ( std::function< void(int inter)> callback )

inline

sets callback that will be called for each iteration

updateAllPointPairs()

MRMESH_API bool MR::MultiwayICP::updateAllPointPairs

(

ProgressCallback

cb = {}

)

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

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

• MRMesh/MRMultiwayICP.h