private void Clouds_ICP()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
//------------------
//ICP
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
icp.Reset_RealData();
icp.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
icp.ICPSettings.MaximumNumberOfIterations = 50;
PointCloud pointCloudResult = icp.PerformICP(this.pSource, this.pTarget);
pointCloudResult.AddPointCloud(this.pTarget);
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = icp.Matrix;
registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
private void Clouds_ICP()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
//------------------
//ICP
ICPLib.IterativeClosestPointTransform icpInstance = new ICPLib.IterativeClosestPointTransform();
icpInstance.Settings_Reset_RealData();
icpInstance.ICPSettings.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
icpInstance.ICPSettings.MaximumNumberOfIterations = 50;
//icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela_ExcludePoints;
icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela;
PointCloudVertices pointCloudResult = icpInstance.PerformICP(this.pSource.ToPointCloudVertices(), this.pTarget.ToPointCloudVertices());
pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices());
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = icpInstance.Matrix;
registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt");
}
private void testClouds_SecondIteration()
{
this.Cursor = Cursors.WaitCursor;
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
pTarget = icp.AlignCloudsFromDirectory_StartFirst(GLSettings.Path + GLSettings.PathPointClouds + "\\Nick\\Result", 10);
SaveResultCloudAndShow(pTarget);
this.Cursor = Cursors.Default;
}
public void AlignFaces()
{
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
//icp.ICPSettings.ShuffleEffect = true;
icp.ICPSettings.MaximumNumberOfIterations = 10;
icp.ICPSettings.SingleSourceTargetMatching = true;
icp.ICPSettings.ICPVersion = ICP_VersionUsed.NoScaling;
icp.TakenAlgorithm = true;
FaceNew = icp.PerformICP(FaceCut, FaceNew);
}
private void testClouds_FirstIteration()
{
this.Cursor = Cursors.WaitCursor;
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
icp.ICPSettings.Prealign_PCA = true;
pTarget = icp.AlignCloudsFromDirectory_StartFirst(GLSettings.Path + GLSettings.PathPointClouds + "\\Nick", 100);
SaveResultCloudAndShow(pTarget);
this.Cursor = Cursors.Default;
//pTarget = icp.AlignCloudsFromDirectory(GLSettings.Path + GLSettings.PathModels + "\\Nick", 30);
//pTarget = icp.AlignCloudsFromDirectory_StartLast(GLSettings.Path + GLSettings.PathModels + "\\Nick", 10);
}
private void testClouds()
{
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
pTarget = null;
for (int i = 0; i < 10; i++)
{
//first iteration
if (pTarget == null)
{
pTarget = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i).ToString() + ".obj");
}
pSource = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i + 1).ToString() + ".obj");
//------------------
//ICP
icp.Reset_RealData();
//icp.ICPSettings.ThresholdMergedPoints = 0f;
icp.ICPSettings.MaximumNumberOfIterations = 15;
pTarget = icp.PerformICP(pSource, this.pTarget);
System.Diagnostics.Debug.WriteLine("###### ICP for point cloud: " + pTarget.Name + " - points added: " + icp.PointsAdded.ToString());
// this.registrationMatrix = icp.Matrix;
// registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
GlobalVariables.ShowLastTimeSpan("--> Time for ICP ");
SaveResultCloudAndShow(pTarget);
}
