#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

Detailed Description

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

Constructor & Destructor Documentation

◆ MultiwayICP()

MultiwayICP::MultiwayICP	(	List< MeshOrPointsXf >^	objs,
		MultiwayICPSamplingParameters^	samplingParams )

◆ ~MultiwayICP()

MultiwayICP::~MultiwayICP ( )

Member Function Documentation

◆ CalculateTransformations()

List< AffineXf3f^> MultiwayICP::CalculateTransformations ( )

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

Returns: adjusted transformations of all objects to reach registered state

◆ GetMeanSqDistToPlane() [1/2]

float MultiwayICP::GetMeanSqDistToPlane ( )

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

◆ GetMeanSqDistToPlane() [2/2]

float MultiwayICP::GetMeanSqDistToPlane ( double value )

computes the standard deviation from given value

◆ GetMeanSqDistToPoint() [1/2]

float MultiwayICP::GetMeanSqDistToPoint ( )

computes root-mean-square deviation between points

◆ GetMeanSqDistToPoint() [2/2]

float MultiwayICP::GetMeanSqDistToPoint ( double value )

computes the standard deviation from given value

◆ GetNumActivePairs()

int MultiwayICP::GetNumActivePairs ( )

computes the number of active point pairs

◆ GetNumSamples()

int MultiwayICP::GetNumSamples ( )

computes the number of samples able to form pairs

◆ ResamplePoints()

void MultiwayICP::ResamplePoints ( MultiwayICPSamplingParameters^ samplingParams )

select pairs with origin samples on all objects

◆ SetParams()

void MultiwayICP::SetParams ( ICPProperties^ props )

tune algorithm params before run calculateTransformations()

◆ UpdateAllPointPairs()

bool MultiwayICP::UpdateAllPointPairs ( )

in each pair updates the target data and performs basic filtering (activation) in cascade mode only useful for stats update

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

MRDotNet/MRMultiwayICP.h

Public Member Functions