public void ScannerPerson_V_Rotate()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\1.obj");
//PointCloud.ResizeVerticesTo1(pointCloudTarget);
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
//Vertices.TranslateVertices(pointCloudTarget, 0, -300, 0);
PointCloud.RotateDegrees(pointCloudSource, 25, 10, 25);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudSource, this.pointCloudTarget, 0, 0);
this.pointCloudSource = PointCloud.CloneAll(pointCloudResult);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 1, 1);
this.pointCloudSource = PointCloud.CloneAll(pointCloudResult);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 2, 2);
this.pointCloudSource = PointCloud.CloneAll(pointCloudResult);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 0, 0);
//this.pointCloudSource = Vertices.CopyVertices(pointCloudResult);
//this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 1, 1);
// this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 0, 0);
//this.pointCloudResult = pca.AlignPointClouds_OneVector(pointCloudResult, this.pointCloudTarget, 1, 2);
//pointCloudResult = null;
CheckResultTargetAndShow_Cloud(this.threshold);
}
public void Simple3Vectors()
{
this.pointCloudTarget = new PointCloud();
pointCloudTarget.AddVector(new Vector3(1, 0, 0));
pointCloudTarget.AddVector(new Vector3(0, 1, 0));
pointCloudTarget.AddVector(new Vector3(1, 1, 0));
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.Translate(pointCloudSource, 1, 4, 5);
this.pointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(pointCloudSource, pointCloudTarget);
float f = IterativeClosestPointTransform.Instance.MeanDistance;
Assert.IsTrue(f < this.threshold);
//if (pointCloudResult != null)
//{
// for (int i = 0; i < 3; i++)
// {
// System.Diagnostics.Debug.WriteLine("target: " + pointCloudTarget[i].ToString() + " : result: " + pointCloudResult[i].ToString());
// }
//}
}
public static float Test6_Bunny_PCA(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = new PointCloud(path + "\\bunny.obj");
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = new Matrix3();
//ICP converges with a rotation of
//R = R.RotationXYZ(60, 60, 60);
R = R.RotationXYZDegrees(124, 124, 124);
PointCloud.Rotate(mypointCloudSource, R);
PCA pca = new PCA();
mypointCloudResult = pca.AlignPointClouds_SVD(mypointCloudSource, mypointCloudTarget);
if (pca.MeanDistance > 1e-5)
{
mypointCloudResult = pca.AlignPointClouds_SVD(mypointCloudResult, mypointCloudTarget);
}
//mypointCloudResult = pca.AlignPointClouds_SVD(mypointCloudResult, mypointCloudTarget);
//mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudResult, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
/// <summary>
/// calculates a start solution set in total of "myNumberPoints" points
/// </summary>
/// <param name="pointsTargetSubset"></param>
/// <param name="pointsSourceSubset"></param>
/// <returns></returns>
private static ICPSolution CalculateStartSolution(ref PointCloud pointsSourceSubset, ref PointCloud pointsTargetSubset, int myNumberPoints,
LandmarkTransform myLandmarkTranform, PointCloud pointsTarget, PointCloud pointsSource, int maxNumberOfIterations)
{
try
{
if (CheckSourceTarget(pointsTarget, pointsSource))
{
return(null);
}
pointsTargetSubset = PointCloud.CloneAll(pointsTarget);
pointsSourceSubset = PointCloud.CloneAll(pointsSource);
ICPSolution res = IterateStartPoints(pointsSourceSubset, pointsTargetSubset, myNumberPoints, myLandmarkTranform, maxNumberOfIterations);
if (res == null)
{
System.Windows.Forms.MessageBox.Show("Could not find starting points for ICP Iteration - bad matching");
return(null);
}
PointCloud.RemoveEntriesByIndices(ref pointsSourceSubset, ref pointsTargetSubset, res.RandomIndices);
return(res);
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("Error in CalculateStartSolution of ICP: " + err.Message);
return(null);
}
}
public static float Test7_Face_KnownTransformation_PCA_55000(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "PointClouds\\UnitTests";
mypointCloudTarget = new PointCloud(path + "\\KinectFace_1_55000.obj");
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ScaleByFactor(mypointCloudSource, 0.9f);
Matrix3 R = new Matrix3();
R = R.RotationXYZDegrees(60, 60, 60);
PointCloud.Rotate(mypointCloudSource, R);
PointCloud.Translate(mypointCloudSource, 0.3f, 0.5f, -0.4f);
PCA pca = new PCA();
mypointCloudResult = pca.AlignPointClouds_SVD(mypointCloudSource, mypointCloudTarget);
mypointCloudSource = mypointCloudResult;
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void ScannerPerson_V_SVD_Rotate()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\1.obj");
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
//Vertices.TranslateVertices(pointCloudTarget, 0, -300, 0);
PointCloud.RotateDegrees(pointCloudSource, 25, 10, 25);
//Vertices.Rotate(pointCloudSource, 25, 90, 25);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudSource, this.pointCloudTarget, 0, 0);
this.pointCloudSource = PointCloud.CloneAll(pointCloudResult);
this.pointCloudResult = pca.AlignPointClouds_SVD(this.pointCloudSource, this.pointCloudTarget);
// this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudResult, this.pointCloudTarget, 0, 0);
//this.pointCloudResult = pca.AlignPointClouds_OneVector(pointCloudResult, this.pointCloudTarget, 1, 2);
//pointCloudResult = null;
ShowPointCloudsInWindow_PCAVectors(true);
Assert.IsTrue(this.threshold > pca.MeanDistance);
}
protected void CreateCuboid(int numberOfPoints)
{
pointCloudTarget = ExamplePointClouds.Cuboid(4, 2, 1, numberOfPoints, numberOfPoints, numberOfPoints);
pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
pointCloudSource = PointCloud.ResizeAndSort_Distance(pointCloudSource);
pointCloudTarget = PointCloud.ResizeAndSort_Distance(pointCloudTarget);
}
protected void CreateCube(int numberOfPoints)
{
List <Vector3> listVectors = ExamplePointClouds.Cuboid_Corners_CenteredAt0(1, 2, 1);
this.pointCloudTarget = PointCloud.FromListVector3(listVectors);
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
}
public static float Test5_Cube8Shuffle_1Milion(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = ExamplePointClouds.Cube_RegularGrid_Empty(cubeSize, 409);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ShuffleRandom(mypointCloudSource);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_Cube8Shuffle(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(cubeSize);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ShuffleTest(mypointCloudSource);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test2_Identity(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = Vertices.CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test1_Translation(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateSomePoints();
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.Translate(mypointCloudSource, 10, 3, 8);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_CubeScale_Inhomogenous(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ScaleByVector(mypointCloudSource, new Vector3(1, 2, 3));
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void TranslateCuboid()
{
this.pointCloudSource = PointCloud.CreateCuboid(5, 8, 60);
pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.Translate(pointCloudResult, 30, -20, 12);
ShowVerticesInWindow(new byte[4] {
255, 255, 255, 255
}, new byte[4] {
255, 0, 0, 255
});
}
public void Rotate()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\1.obj");
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 25, 10, 25);
this.pointCloudResult = pca.AlignPointClouds_SVD(this.pointCloudSource, this.pointCloudTarget);
CheckResultTargetAndShow_Cloud(this.threshold);
}
public static float Test8_CubeOutliers_Translate(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(20);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.Translate(mypointCloudSource, 0, -300, 0);
PointCloud.CreateOutliers(mypointCloudSource, 5);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void Rotate()
{
CreateCube();
//pointCloudTarget.ResizeVerticesTo1();
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 45, 0, 0);
this.pointCloudResult = pca.AlignPointClouds_SVD(pointCloudSource, pointCloudTarget);
CheckResultTargetAndShow_Cube();
}
public static float Test3_Scale(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ScaleByFactor(mypointCloudSource, 0.2f);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test11_Person(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = new PointCloud(path + "\\1.obj");
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.RotateDegrees(mypointCloudSource, 25, 10, 25);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void ScaleCuboid()
{
this.pointCloudSource = PointCloud.CreateCuboid(5, 8, 60);
pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.ScaleByVector(pointCloudResult, new Vector3(1, 2, 3));
ShowVerticesInWindow(new byte[4] {
255, 255, 255, 255
}, new byte[4] {
255, 0, 0, 255
});
}
public void Cube_NotWorking()
{
this.pointCloudTarget = PointCloud.CreateCube_RegularGrid_Empty(cubeSizeX, 1);
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 45, 45, 45);
this.pointCloudResult = pca.AlignPointClouds_SVD(this.pointCloudSource, this.pointCloudTarget);
this.ShowResultsInWindow_Cube(true);
}
public static float Test5_CubeRotate45(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = PointCloud.CreateCube_RandomPointsOnPlanes(cubeSize, 10);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = CreateAndPrintMatrix(45, 45, 45);
PointCloud.Rotate(mypointCloudSource, R);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void Rotate()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\KinectFace_1_15000.obj");
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 25, 90, 25);
this.pointCloudResult = pca.AlignPointClouds_SVD(this.pointCloudSource, this.pointCloudTarget);
double executionTime = Performance_Stop("Execution Time");//on i3_2121 (3.3 GHz)
Assert.IsTrue(executionTime < 3);
CheckResultTargetAndShow_Cloud(this.threshold);
}
public static float Test5_CubeRotate(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = new Matrix3();
R = R.RotationXYZDegrees(90, 124, -274);
PointCloud.Rotate(mypointCloudSource, R);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test2_RotationX30Degrees(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = Vertices.CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = Matrix3.CreateRotationX(30);
PointCloud.Rotate(mypointCloudSource, R);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void Cube_ProjectedPoints()
{
this.pointCloudSource = PointCloud.CreateCube_RegularGrid_Empty(cubeSizeX, 1);
this.pointCloudAddition1 = PointCloud.CloneAll(pointCloudSource);
pca.PCA_OfPointCloud(pointCloudSource);
this.pointCloudSource = PointCloud.FromListVector3(pca.PointsResult0);
this.pointCloudTarget = PointCloud.FromListVector3(pca.PointsResult1);
this.pointCloudResult = PointCloud.FromListVector3(pca.PointsResult2);
this.ShowResultsInWindow_Cube_ProjectedPoints(true);
//Show4PointCloudsInWindow(true);
}
public static float Test10_CubeRTranslate(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = ExamplePointClouds.Cube_RegularGrid_Empty(cubeSize, 5);
//mypointCloudTarget = Vertices.CreateCube_Corners(10);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.Translate(mypointCloudSource, cubeSize * 1.2f, -cubeSize * 2.5f, cubeSize * 2);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test10_Cube26p_RotateShuffle(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = ExamplePointClouds.Cube_RegularGrid_Empty(cubeSize, 2);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = CreateAndPrintMatrix(65, -123, 35);
PointCloud.Rotate(mypointCloudSource, R);
PointCloud.ShuffleRandom(mypointCloudSource);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void V_RotateNotWorking()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\KinectFace_1_15000.obj");
//PointCloud.ResizeVerticesTo1(pointCloudTarget);
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 60, 60, 90);
this.pointCloudResult = pca.AlignPointClouds_OneVector(this.pointCloudSource, this.pointCloudTarget, 0, 0);
ShowPointCloudsInWindow_PCAVectors(true);
Assert.IsTrue(this.threshold > pca.MeanDistance);
}
public void Rotate_Custom()
{
this.pointCloudTarget = new PointCloud(pathUnitTests + "\\bunny.obj");
this.pointCloudSource = PointCloud.CloneAll(pointCloudTarget);
PointCloud.RotateDegrees(pointCloudSource, 124, 124, 124);
this.pointCloudResult = pca.AlignPointClouds_SVD(this.pointCloudSource, this.pointCloudTarget);
CheckResultTargetAndShow_Cloud(this.threshold);
double executionTime = Performance_Stop("PCA_Bunny_Rotate");//5 seconds on i3_2121 (3.3 GHz)
Assert.IsTrue(executionTime < 5);
}