MRMeshC/MRICP.h

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#pragma once
 
#include "MRMeshFwd.h"
#include "MRAffineXf.h"
#include "MRId.h"
#include "MRMeshOrPoints.h"
#include "MRVector3.h"
 
MR_EXTERN_C_BEGIN
 
typedef enum MRICPMethod
{
    MRICPMethodCombined = 0,
    MRICPMethodPointToPoint = 1,
    MRICPMethodPointToPlane = 2
} MRICPMethod;
 
typedef enum MRICPMode
{
    MRICPModeRigidScale = 0,
    MRICPModeAnyRigidXf,
    MRICPModeOrthogonalAxis,
    MRICPModeFixedAxis,
    MRICPModeTranslationOnly
} MRICPMode;
 
typedef struct MRICPPairData
{
    MRVector3f srcPoint;
    MRVector3f srcNorm;
    MRVector3f tgtPoint;
    MRVector3f tgtNorm;
    float distSq;
    float weight;
} MRICPPairData;
 
typedef struct MRPointPair
{
    MRICPPairData ICPPairData;
    MRVertId srcVertId;
    MRVertId tgtCloseVert;
    float normalsAngleCos;
    bool tgtOnBd;
} MRPointPair;
 
typedef struct MRIPointPairs MRIPointPairs;
 
typedef struct MRPointPairs MRPointPairs;
 
MRMESHC_API const MRICPPairData* mrIPointPairsGet( const MRIPointPairs* pp, size_t idx );
 
MRMESHC_API MRICPPairData* mrIPointPairsGetRef( MRIPointPairs* pp, size_t idx );
 
typedef enum MRICPExitType
{
    MRICPExitTypeNotStarted = 0,
    MRICPExitTypeNotFoundSolution,
    MRICPExitTypeMaxIterations,
    MRICPExitTypeMaxBadIterations,
    MRICPExitTypeStopMsdReached
} MRICPExitType;
 
typedef struct MRICPProperties
{
    MRICPMethod method;
    float p2plAngleLimit;
    float p2plScaleLimit;
    float cosThreshold;
    float distThresholdSq;
    float farDistFactor;
    MRICPMode icpMode;
    MRVector3f fixedRotationAxis;
    int iterLimit;
    int badIterStopCount;
    float exitVal;
    bool mutualClosest;
} MRICPProperties;
 
MRMESHC_API MRICPProperties mrICPPropertiesNew( void );
 
typedef struct MRICP MRICP;
 
MRMESHC_API MRICP* mrICPNew( const MRMeshOrPointsXf* flt, const MRMeshOrPointsXf* ref, float samplingVoxelSize );
 
MRMESHC_API void mrICPSetParams( MRICP* icp, const MRICPProperties* prop );
 
MRMESHC_API void mrICPSamplePoints( MRICP* icp, float samplingVoxelSize );
 
MRMESHC_API MRAffineXf3f mrICPAutoSelectFloatXf( MRICP* icp );
 
MRMESHC_API void mrICPUpdatePointPairs( MRICP* icp );
 
MRMESHC_API MRString* mrICPGetStatusInfo( const MRICP* icp );
 
MRMESHC_API size_t mrICPGetNumSamples( const MRICP* icp );
 
MRMESHC_API size_t mrICPGetNumActivePairs( const MRICP* icp );
 
MRMESHC_API float mrICPGetMeanSqDistToPoint( const MRICP* icp );
 
MRMESHC_API float mrICPGetMeanSqDistToPlane( const MRICP* icp );
 
MRMESHC_API const MRIPointPairs* mrICPGetFlt2RefPairs( const MRICP* icp );
 
MRMESHC_API const MRIPointPairs* mrICPGetRef2FltPairs( const MRICP* icp );
 
MRMESHC_API MRAffineXf3f mrICPCalculateTransformation( MRICP* icp );
 
MRMESHC_API void mrICPFree( MRICP* icp );
 
MR_EXTERN_C_END