Method updateLayerPairs_

source/MRMesh/MRMultiwayICP.cpp:697–780

}

bool MultiwayICP::updateLayerPairs_( ICPLayer l, const ProgressCallback& cb )
{
    MR_TIMER;
    auto numGroups = pairsGridPerLayer_[l].size();
    bool cascadeMode = pairsGridPerLayer_.size() > 1;

    assert( l == 0 || cascadeMode );
    assert( l < pairsGridPerLayer_.size() );

    // build trees
    using LayerTrees = Vector<AABBTreeObjects, ICPElementId>;
    using LayerMaps = Vector<ObjMap, ICPElementId>;
    LayerTrees trees;
    LayerMaps maps;
    if ( l == 0 )
    {
        for ( const auto& obj : objs_ )
            obj.obj.cacheAABBTree(); // trigger AABB Tree build if needed not to fall in deep stack while projecting
    }
    else
    {
        // only for upper layers
        trees.resize( numGroups );
        maps.resize( numGroups );
        ParallelFor( trees, [&] ( ICPElementId gI )
        {
            const auto& leaves = cascadeIndexer_->getElementLeaves( l, gI );
            maps[gI].reserve( leaves.count() );
            ICPObjects leafObjs;
            leafObjs.reserve( leaves.count() );
            for ( auto leaf : leaves )
            {
                maps[gI].emplace_back( leaf );
                leafObjs.emplace_back( objs_[leaf] );
            }
            trees[gI] = AABBTreeObjects( std::move( leafObjs ) );
        } );
    }

    auto createProjector = [&] ( ICPElementId elId )->ICPGroupProjector
    {
        if ( l == 0 )
            return [this, elId] ( const Vector3f& p, MeshOrPoints::ProjectionResult& res, ObjId& resId ) mutable
        {
            auto proj = objs_[ObjId( elId.get() )].obj.limitedProjector();
            proj( objs_[ObjId( elId.get() )].xf.inverse()( p ), res );
            if ( res.closestVert )
                resId = ObjId( elId.get() );
        };
        return [&trees, &maps, elId] ( const Vector3f& p, MeshOrPoints::ProjectionResult& res, ObjId& resId )
        {
            projectOnAll( p, trees[elId], res.distSq, [&] ( ObjId oId, MeshOrPoints::ProjectionResult prj )
            {
                if ( prj.distSq >= res.distSq )
                    return;
                res = prj;
                resId = maps[elId][oId];
            } );