#include <MRMultiwayICP.h>
Public Member Functions | |
MultiwayICP (List< MeshOrPointsXf >^ objs, MultiwayICPSamplingParameters^ samplingParams) | |
~MultiwayICP () | |
List< AffineXf3f^> | CalculateTransformations () |
void | ResamplePoints (MultiwayICPSamplingParameters^ samplingParams) |
select pairs with origin samples on all objects | |
bool | UpdateAllPointPairs () |
void | SetParams (ICPProperties^ props) |
tune algorithm params before run calculateTransformations() | |
float | GetMeanSqDistToPoint () |
computes root-mean-square deviation between points | |
float | GetMeanSqDistToPoint (double value) |
computes the standard deviation from given value | |
float | GetMeanSqDistToPlane () |
computes root-mean-square deviation from points to target planes | |
float | GetMeanSqDistToPlane (double value) |
computes the standard deviation from given value | |
int | GetNumSamples () |
computes the number of samples able to form pairs | |
int | GetNumActivePairs () |
computes the number of active point pairs | |
This class allows you to register many objects having similar parts and known initial approximations of orientations/locations using Iterative Closest Points (ICP) point-to-point or point-to-plane algorithms
MultiwayICP::MultiwayICP | ( | List< MeshOrPointsXf >^ | objs, |
MultiwayICPSamplingParameters^ | samplingParams ) |
MultiwayICP::~MultiwayICP | ( | ) |
List< AffineXf3f^> MultiwayICP::CalculateTransformations | ( | ) |
runs ICP algorithm given input objects, transformations, and parameters;
float MultiwayICP::GetMeanSqDistToPlane | ( | ) |
computes root-mean-square deviation from points to target planes
float MultiwayICP::GetMeanSqDistToPlane | ( | double | value | ) |
computes the standard deviation from given value
float MultiwayICP::GetMeanSqDistToPoint | ( | ) |
computes root-mean-square deviation between points
float MultiwayICP::GetMeanSqDistToPoint | ( | double | value | ) |
computes the standard deviation from given value
int MultiwayICP::GetNumActivePairs | ( | ) |
computes the number of active point pairs
int MultiwayICP::GetNumSamples | ( | ) |
computes the number of samples able to form pairs
void MultiwayICP::ResamplePoints | ( | MultiwayICPSamplingParameters^ | samplingParams | ) |
select pairs with origin samples on all objects
void MultiwayICP::SetParams | ( | ICPProperties^ | props | ) |
tune algorithm params before run calculateTransformations()
bool MultiwayICP::UpdateAllPointPairs | ( | ) |
in each pair updates the target data and performs basic filtering (activation) in cascade mode only useful for stats update