MRICPProperties Struct Reference

#include <MRICP.h>

Public Attributes
MRICPMethod	method
	The method how to update transformation from point pairs.
float	p2plAngleLimit
	Rotation angle during one iteration of PointToPlane will be limited by this value.
float	p2plScaleLimit
	Scaling during one iteration of PointToPlane will be limited by this value.
float	cosThreshold
	Points pair will be counted only if cosine between surface normals in points is higher.
float	distThresholdSq
	Points pair will be counted only if squared distance between points is lower than.
float	farDistFactor
MRICPMode	icpMode
	Finds only translation. Rotation part is identity matrix.
MRVector3f	fixedRotationAxis
	If this vector is not zero then rotation is allowed relative to this axis only.
int	iterLimit
	maximum iterations
int	badIterStopCount
	maximum iterations without improvements
float	exitVal
	Algorithm target root-mean-square distance. As soon as it is reached, the algorithm stops.
bool	mutualClosest
	a pair of points is formed only if both points in the pair are mutually closest (reciprocity test passed)

Member Data Documentation

badIterStopCount

int MRICPProperties::badIterStopCount

maximum iterations without improvements

cosThreshold

float MRICPProperties::cosThreshold

Points pair will be counted only if cosine between surface normals in points is higher.

distThresholdSq

float MRICPProperties::distThresholdSq

Points pair will be counted only if squared distance between points is lower than.

exitVal

float MRICPProperties::exitVal

Algorithm target root-mean-square distance. As soon as it is reached, the algorithm stops.

farDistFactor

float MRICPProperties::farDistFactor

Points pair will be counted only if distance between points is lower than root-mean-square distance times this factor

fixedRotationAxis

MRVector3f MRICPProperties::fixedRotationAxis

If this vector is not zero then rotation is allowed relative to this axis only.

icpMode

MRICPMode MRICPProperties::icpMode

Finds only translation. Rotation part is identity matrix.

iterLimit

int MRICPProperties::iterLimit

maximum iterations

method

MRICPMethod MRICPProperties::method

The method how to update transformation from point pairs.

mutualClosest

bool MRICPProperties::mutualClosest

a pair of points is formed only if both points in the pair are mutually closest (reciprocity test passed)

p2plAngleLimit

float MRICPProperties::p2plAngleLimit

Rotation angle during one iteration of PointToPlane will be limited by this value.

p2plScaleLimit

float MRICPProperties::p2plScaleLimit

Scaling during one iteration of PointToPlane will be limited by this value.

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

• MRMeshC/MRICP.h