MRICP.h File Reference

#include "MRMeshOrPoints.h"
#include "MRMatrix3.h"
#include "MRId.h"
#include "MRConstants.h"
#include "MRAffineXf.h"
#include "MRBitSet.h"
#include <cfloat>

Go to the source code of this file.

Classes
struct	MR::ICPPairData
struct	MR::PointPair
	Stores a pair of points: one samples on the source and the closest to it on the target. More...
struct	MR::IPointPairs
	Simple interface for pairs holder. More...
struct	MR::PointPairs
struct	MR::NumSum
struct	MR::ICPProperties
class	MR::ICP

Namespaces
namespace	MR

Enumerations
enum class	MR::ICPMethod { MR::Combined = 0 , MR::PointToPoint = 1 , MR::PointToPlane = 2 }
	The method how to update transformation from point pairs. More...
enum class	MR::ICPMode {   MR::RigidScale , MR::AnyRigidXf , MR::OrthogonalAxis , MR::FixedAxis ,   MR::TranslationOnly }
	The group of transformations, each with its own degrees of freedom. More...
enum class	MR::ICPExitType {   MR::NotStarted , MR::NotFoundSolution , MR::MaxIterations , MR::MaxBadIterations ,   MR::StopMsdReached }

Functions
size_t	MR::getNumSamples (const IPointPairs &pairs)
	returns the number of samples able to form pairs
MRMESH_API size_t	MR::getNumActivePairs (const IPointPairs &pairs)
	computes the number of active pairs
MRMESH_API NumSum	MR::getSumSqDistToPoint (const IPointPairs &pairs, double *inaccuracy=nullptr)
MRMESH_API NumSum	MR::getSumSqDistToPlane (const IPointPairs &pairs, double *inaccuracy=nullptr)
float	MR::getMeanSqDistToPoint (const IPointPairs &pairs)
	computes root-mean-square deviation between points
float	MR::getMeanSqDistToPlane (const IPointPairs &pairs)
	computes root-mean-square deviation from points to target planes
MRMESH_API std::string	MR::getICPStatusInfo (int iterations, ICPExitType exitType)
	returns status info string
MRMESH_API AffineXf3f	MR::getAligningXf (const PointToPlaneAligningTransform &p2pl, ICPMode mode, float angleLimit, float scaleLimit, const Vector3f &fixedRotationAxis)
	given prepared (p2pl) object, finds the best transformation from it of given type with given limitations on rotation angle and global scale
MRMESH_API size_t	MR::deactivateFarPairs (IPointPairs &pairs, float maxDistSq)
	reset active bit if pair distance is further than maxDistSq
MRMESH_API void	MR::updatePointPairs (PointPairs &pairs, const MeshOrPointsXf &src, const MeshOrPointsXf &tgt, float cosTreshold, float distThresholdSq, bool mutualClosest)
	in each pair updates the target data and performs basic filtering (activation)