#include <MRICP.h>

Public Member Functions
	ICP (MeshOrPointsXf^ flt, MeshOrPointsXf^ ref, float samplingVoxelSize)

	ICP (MeshOrPointsXf^ flt, MeshOrPointsXf^ ref, BitSet^ fltSamples, BitSet^ refSamples)

	~ICP ()

void	SetParams (ICPProperties^ props)
	tune algorithm params before run calculateTransformation()

void	SamplePoints (float sampleVoxelSize)
	select pairs with origin samples on both objects

void	AutoSelectFloatXf ()

void	UpdatePointPairs ()
	recompute point pairs after manual change of transformations or parameters

System::String	GetStatusInfo ()
	returns status info string

int	GetNumSamples ()
	computes the number of samples able to form pairs

int	GetNumActivePairs ()
	computes the number of active point pairs

float	GetMeanSqDistToPoint ()
	computes root-mean-square deviation between points

float	GetMeanSqDistToPlane ()
	computes root-mean-square deviation from points to target planes

PointPairs	GetFlt2RefPairs ()
	returns current pairs formed from samples on floating object and projections on reference object

PointPairs	GetRef2FltPairs ()
	returns current pairs formed from samples on reference object and projections on floating object

AffineXf3f	CalculateTransformation ()

Constructor & Destructor Documentation

◆ ICP() [1/2]

ICP::ICP	(	MeshOrPointsXf^	flt,
		MeshOrPointsXf^	ref,
		float	samplingVoxelSize )

Constructs ICP framework with given sample points on both objects

Parameters

flt	floating object and transformation from floating object space to global space
ref	reference object and transformation from reference object space to global space
samplingVoxelSize	approximate distance between samples on each of two objects

◆ ICP() [2/2]

ICP::ICP	(	MeshOrPointsXf^	flt,
		MeshOrPointsXf^	ref,
		BitSet^	fltSamples,
		BitSet^	refSamples )

Constructs ICP framework with given sample points on both objects

Parameters

flt	floating object and transformation from floating object space to global space
ref	reference object and transformation from reference object space to global space
fltSamples	samples on floating object to find projections on the reference object during the algorithm
refSamples	samples on reference object to find projections on the floating object during the algorithm

◆ ~ICP()

ICP::~ICP ( )

Member Function Documentation

◆ AutoSelectFloatXf()

void ICP::AutoSelectFloatXf ( )

automatically selects initial transformation for the floating object based on covariance matrices of both floating and reference objects; applies the transformation to the floating object and returns it

◆ CalculateTransformation()

AffineXf3f ICP::CalculateTransformation ( )

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

Returns: adjusted transformation of the floating object to match reference object

◆ GetFlt2RefPairs()

PointPairs ICP::GetFlt2RefPairs ( )

returns current pairs formed from samples on floating object and projections on reference object

◆ GetMeanSqDistToPlane()

float ICP::GetMeanSqDistToPlane ( )

computes root-mean-square deviation from points to target planes

◆ GetMeanSqDistToPoint()

float ICP::GetMeanSqDistToPoint ( )

computes root-mean-square deviation between points

◆ GetNumActivePairs()

int ICP::GetNumActivePairs ( )

computes the number of active point pairs

◆ GetNumSamples()

int ICP::GetNumSamples ( )

computes the number of samples able to form pairs

◆ GetRef2FltPairs()

PointPairs ICP::GetRef2FltPairs ( )

returns current pairs formed from samples on reference object and projections on floating object

◆ GetStatusInfo()

System::String ICP::GetStatusInfo ( )

returns status info string

◆ SamplePoints()

void ICP::SamplePoints ( float sampleVoxelSize )

select pairs with origin samples on both objects

◆ SetParams()

void ICP::SetParams ( ICPProperties^ props )

tune algorithm params before run calculateTransformation()

◆ UpdatePointPairs()

void ICP::UpdatePointPairs ( )

recompute point pairs after manual change of transformations or parameters

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

MRDotNet/MRICP.h

Public Member Functions