MRDotNet/MRICP.h

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#pragma once
#include "MRMeshFwd.h"
#include "MRMesh/MRICPEnums.h"
#include "MRVector3.h"
#pragma managed( push, off )
#include <MRMesh/MRICP.h>
#pragma managed( pop )
 
MR_DOTNET_NAMESPACE_BEGIN
 
public ref struct PointPair
{
    Vector3f^ srcPoint;
 
    Vector3f^ srcNorm;
 
    Vector3f^ tgtPoint;
 
    Vector3f^ tgtNorm;
 
    float distSq = 0.f;
 
    float weight = 1.f;
 
    VertId srcVertId;
 
    VertId tgtCloseVert;
 
    float normalsAngleCos = 1.f;
 
    bool tgtOnBd = false;
};
 
public ref struct PointPairs
{
    PointPairs( const MR::PointPairs& pairs );
 
    List<PointPair^>^ pairs;
    BitSet^ active;
};
 
public ref struct ICPProperties
{
    ICPMethod method = ICPMethod::PointToPlane;
 
    float p2plAngleLimit = float( System::Math::PI ) / 6.0f; // [radians]
 
    float p2plScaleLimit = 2;
 
    float cosThreshold = 0.7f; // in [-1,1]
 
    float distThresholdSq = 1.f; // [distance^2]
 
    float farDistFactor = 3.f; // dimensionless
 
    ICPMode icpMode = ICPMode::AnyRigidXf;
 
    Vector3f^ fixedRotationAxis = gcnew Vector3f( 0, 0, 0 );
 
    int iterLimit = 10;
 
    int badIterStopCount = 3;
 
    float exitVal = 0; // [distance]
 
    bool mutualClosest = false;
 
    MR::ICPProperties ToNative();
};
 
public ref class ICP
{
public:
    ICP( MeshOrPointsXf^ flt, MeshOrPointsXf^ ref, float samplingVoxelSize );
 
    ICP( MeshOrPointsXf^ flt, MeshOrPointsXf^ ref, BitSet^ fltSamples, BitSet^ refSamples );
    ~ICP();
    void SetParams( ICPProperties^ props );
    void SamplePoints( float sampleVoxelSize );
    void AutoSelectFloatXf();
    void UpdatePointPairs();
    System::String^ GetStatusInfo();
    int GetNumSamples();
    int GetNumActivePairs();
    float GetMeanSqDistToPoint();
    float GetMeanSqDistToPlane();
    PointPairs^ GetFlt2RefPairs();
    PointPairs^ GetRef2FltPairs();
    AffineXf3f^ CalculateTransformation();
 
private:
    MR::ICP* icp_;
};
 
MR_DOTNET_NAMESPACE_END