#include <MRMesh/MRMultiwayICP.h>

Public Types
using	PairsPerLayer = Vector<ICPPairsGrid, ICPLayer>

Public Member Functions
	MultiwayICP (const ICPObjects &objects, const MultiwayICPSamplingParameters &samplingParams)
Vector< AffineXf3f, ObjId >	calculateTransformations (const ProgressCallback &cb={})
Vector< AffineXf3f, ObjId >	calculateTransformationsFixFirst (const ProgressCallback &cb={})
bool	resamplePoints (const MultiwayICPSamplingParameters &samplingParams)
	select pairs with origin samples on all objects
bool	updateAllPointPairs (const ProgressCallback &cb={})
void	setParams (const ICPProperties &prop)
	tune algorithm params before run calculateTransformations()
const ICPProperties &	getParams () const
float	getMeanSqDistToPoint (std::optional< double > value={}) const
float	getMeanSqDistToPlane (std::optional< double > value={}) 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
void	setPerIterationCallback (std::function< void(int inter)> callback)
	sets callback that will be called for each iteration
bool	devIndependentEquationsModeEnabled () const
void	devEnableIndependentEquationsMode (bool on)
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

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

MRMesh/MRMultiwayICP.h

Public Types

Public Member Functions

Detailed Description