MRDotNet/MRMultiwayICP.h

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#pragma once
#include "MRMeshFwd.h"
#include "MRICP.h"
 
MR_DOTNET_NAMESPACE_BEGIN
 
public ref struct MultiwayICPSamplingParameters
{
    float samplingVoxelSize = 0.0f;
 
    int maxGroupSize = 64;
 
    enum class CascadeMode
    {
        Sequential, 
        AABBTreeBased 
    } cascadeMode{ CascadeMode::AABBTreeBased };
};
 
public ref class MultiwayICP
{
public:
    MultiwayICP( List<MeshOrPointsXf>^ objs, MultiwayICPSamplingParameters^ samplingParams );
    ~MultiwayICP();
 
    List<AffineXf3f^>^ CalculateTransformations();
    void ResamplePoints( MultiwayICPSamplingParameters^ samplingParams );
    bool UpdateAllPointPairs();
    void SetParams( ICPProperties^ props );
    float GetMeanSqDistToPoint();
    float GetMeanSqDistToPoint( double value );
    float GetMeanSqDistToPlane();
    float GetMeanSqDistToPlane( double value );
    int GetNumSamples();
    int GetNumActivePairs();
 
private:
    MR::MultiwayICP* icp_;
};
 
MR_DOTNET_NAMESPACE_END