| 554 | } |
| 555 | |
| 556 | bool MultiwayICP::updateAllPointPairs( const ProgressCallback& cb ) |
| 557 | { |
| 558 | MR_TIMER; |
| 559 | for ( ICPLayer l( 0 ); l < pairsGridPerLayer_.size(); ++l ) |
| 560 | { |
| 561 | bool keepGoing = updateLayerPairs_( l, subprogress( cb, float( l ) / float( pairsGridPerLayer_.size() ), float( l + 1 ) / float( pairsGridPerLayer_.size() ) ) ); |
| 562 | if ( !keepGoing ) |
| 563 | return false; |
| 564 | } |
| 565 | return true; |
| 566 | } |
| 567 | |
| 568 | void MultiwayICP::setupLayers_( MultiwayICPSamplingParameters::CascadeMode mode ) |
| 569 | { |