private void AssertSphere(double[] a, double[] b, double[] c, double[] d, double[] centre, double radius)
{
CircumcentreSolver solver = new CircumcentreSolver(a, b, c, d);
Assert.Equal(centre[0], solver.Centre[0]);
Assert.Equal(centre[1], solver.Centre[1]);
Assert.Equal(centre[2], solver.Centre[2]);
Assert.Equal(radius, solver.Radius);
}
private void AssertSphere(double[] a, double[] b, double[] c, double[] d, double[] centre, double radius)
{
CircumcentreSolver solver = new CircumcentreSolver(a, b, c, d);
Assert.Equal(centre[0], solver.Centre[0]);
Assert.Equal(centre[1], solver.Centre[1]);
Assert.Equal(centre[2], solver.Centre[2]);
Assert.Equal(radius, solver.Radius);
}
public void FourPointCalibration(Plane a, Plane b, Plane c, Plane d)
{
var calibrate = new CircumcentreSolver(a.Origin, b.Origin, c.Origin, d.Origin);
Point3d tcpOrigin = Point3d.Origin;
foreach (Plane plane in new Plane[] { a, b, c, d })
{
plane.RemapToPlaneSpace(calibrate.Center, out Point3d remappedPoint);
tcpOrigin += remappedPoint;
}
tcpOrigin /= 4;
Tcp = new Plane(tcpOrigin, Tcp.XAxis, Tcp.YAxis);
}
public Tetrahedron(Vector3 vertex1, Vector3 vertex2, Vector3 vertex3, Vector3 vertex4)
{
vertices.Add(vertex1);
vertices.Add(vertex2);
vertices.Add(vertex3);
vertices.Add(vertex4);
var solver = new CircumcentreSolver(vec3todouble(vertex1), vec3todouble(vertex2), vec3todouble(vertex3), vec3todouble(vertex4));
center = new Vector3((float)solver.Centre[0], (float)solver.Centre[1], (float)solver.Centre[2]);
radius = (float)solver.Radius;
}
SphereData ransac_a_sphere(List <Vector3> points)
{
List <int> usedValues = new List <int>();
int min = 0, max = points.Count;
for (int i = 0; i < 4; i++)
{
int val = UnityEngine.Random.Range(min, max);
while (usedValues.Contains(val))
{
val = UnityEngine.Random.Range(min, max);
}
usedValues.Add(val);
}
sphereSolver = new CircumcentreSolver(points[usedValues[0]], points[usedValues[1]], points[usedValues[2]], points[usedValues[3]]);
return(new SphereData(sphereSolver.Centre2, (float)(sphereSolver.Radius)));
}
private double[] GetCircumcentre()
{
// Get the 4 input pairs.
double[] a = this.Vertices[0].Position;
double[] b = this.Vertices[1].Position;
double[] c = this.Vertices[2].Position;
double[] d = this.Vertices[3].Position;
// Return result.
CircumcentreSolver solver = new CircumcentreSolver(a, b, c, d);
if (!solver.Valid)
{
return(null);
}
else
{
return(solver.Centre);
}
}
public void FourPointCalibration(Plane a, Plane b, Plane c, Plane d)
{
var calibrate = new CircumcentreSolver(a.Origin, b.Origin, c.Origin, d.Origin);
Point3d tcpOrigin = Point3d.Origin;
foreach (Plane plane in new Plane[] { a, b, c, d })
{
plane.RemapToPlaneSpace(calibrate.Center, out Point3d remappedPoint);
tcpOrigin += remappedPoint;
}
tcpOrigin /= 4;
Tcp = new Plane(tcpOrigin, Tcp.XAxis, Tcp.YAxis);
}
