private bool ComputeRegistration()
{
bool result;
Vector3[] targetCoords = new Vector3[placedTargets.Length];
for (int i = 0; i < placedTargets.Length; i++)
{
targetCoords[i] = placedTargets[i].transform.position;
}
Alignment3D modelAlign = new Alignment3D(targetCoords);
(tfModelToWorld, result) = modelAlign.computeRegistration();
return(result);
}
// Start is called before the first frame update
void Start()
{
statusmsg = status.GetComponent <TextMesh>();
rand = new System.Random();
//testPoints = new Vector3[] { new Vector3(0, 0, 0), new Vector3(0.215f, 0, 0), new Vector3(0.215f, 0.279f, 0), new Vector3(0, 0.279f, 0) };
//testPoints = new Vector3[] { new Vector3(0, 0, 0), new Vector3(0, -0.215f, 0), new Vector3(0.279f, -0.215f, 0), new Vector3(0.279f, 0 , 0) };
testPoints = new Vector3[] { new Vector3(1, 1, 0), new Vector3(-1, 1, 0), new Vector3(-1, -1, 0), new Vector3(1, -1, 0), new Vector3(1, -1, 0), new Vector3(1, -1, 0) };
for (int i = 0; i < testPoints.Length; i++)
{
//shift points by 1
testPoints[i].x = testPoints[i].x + 2.0f + 0.15f * map((float)rand.NextDouble()); // + 2.0f;
testPoints[i].y = testPoints[i].y + 0.15f * map((float)rand.NextDouble()); // + 2.0f;
testPoints[i].z = testPoints[i].z + 0.15f * map((float)rand.NextDouble()); // + 1.0f;
}
align = new Alignment3D(testPoints);
statusmsg.text = align.computeRegistration().ToString();
}
