MRMeshC/MRMultiwayICP.h

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#pragma once
 
#include "MRMeshFwd.h"
#include "MRGridSampling.h"
#include "MRICP.h"
#include "MRVector.h"
 
MR_EXTERN_C_BEGIN
 
typedef enum MRMultiwayICPSamplingParametersCascadeMode
{
    MRMultiwayICPSamplingParametersCascadeModeSequential = 0,
    MRMultiwayICPSamplingParametersCascadeModeABBTreeBased
} MRMultiwayICPSamplingParametersCascadeMode;
 
typedef struct MRMultiwayICPSamplingParameters
{
    float samplingVoxelSize;
    int maxGroupSize;
    MRMultiwayICPSamplingParametersCascadeMode cascadeMode;
    MRProgressCallback cb;
} MRMultiwayICPSamplingParameters;
 
MRMESHC_API MRMultiwayICPSamplingParameters mrMultiwayIcpSamplingParametersNew( void );
 
typedef struct MRMultiwayICP MRMultiwayICP;
 
MRMESHC_API MRMultiwayICP* mrMultiwayICPNew( const MRMeshOrPointsXf* objects, size_t objectsNum, const MRMultiwayICPSamplingParameters* samplingParams );
 
MRMESHC_API MRVectorAffineXf3f* mrMultiwayICPCalculateTransformations( MRMultiwayICP* mwicp, MRProgressCallback cb );
 
MRMESHC_API bool mrMultiwayICPResamplePoints( MRMultiwayICP* mwicp, const MRMultiwayICPSamplingParameters* samplingParams );
 
MRMESHC_API bool mrMultiwayICPUpdateAllPointPairs( MRMultiwayICP* mwicp, MRProgressCallback cb );
 
MRMESHC_API void mrMultiwayICPSetParams( MRMultiwayICP* mwicp, const MRICPProperties* prop );
 
MRMESHC_API float mrMultiWayICPGetMeanSqDistToPoint( const MRMultiwayICP* mwicp, double* value );
 
MRMESHC_API float mrMultiWayICPGetMeanSqDistToPlane( const MRMultiwayICP* mwicp, double* value );
 
MRMESHC_API size_t mrMultiWayICPGetNumSamples( const MRMultiwayICP* mwicp );
 
MRMESHC_API size_t mrMultiWayICPGetNumActivePairs( const MRMultiwayICP* mwicp );
 
MRMESHC_API void mrMultiwayICPFree( MRMultiwayICP* mwicp );
 
MR_EXTERN_C_END