public void FindNearest_NormalsCheck_Rednaxela(PointCloudVertices pointCloud, bool normalsCheck)
{
PointCloudVertices nearestNeighbours = new PointCloudVertices();
//for (int i = pointCloud.Count - 1; i >= 0; i--)
for (int i = 0; i < pointCloud.Count; i++)
{
Vertex vSource = pointCloud[i];
// Perform a nearest neighbour search around that point.
KDTreeRednaxela.NearestNeighbour <EllipseWrapper> nearestNeighbor = null;
if (normalsCheck)
{
nearestNeighbor = KdTree_Rednaxela.FindNearest_EuclidDistance(new float[] { Convert.ToSingle(vSource.Vector.X), Convert.ToSingle(vSource.Vector.Y), Convert.ToSingle(vSource.Vector.Z) }, NumberOfNeighboursToSearch + 1, -1);
}
else
{
nearestNeighbor = KdTree_Rednaxela.FindNearest_EuclidDistance(new float[] { Convert.ToSingle(vSource.Vector.X), Convert.ToSingle(vSource.Vector.Y), Convert.ToSingle(vSource.Vector.Z) }, NumberOfNeighboursToSearch, -1);
}
while (nearestNeighbor.MoveNext())
{
EllipseWrapper wr = nearestNeighbor.CurrentPoint;
Vertex vTarget = wr.Vertex;
if (vSource != vTarget)
{
if (!vSource.KDTreeSearch.Contains(vTarget.IndexInModel))
{
if (!vTarget.TakenInTree)
{
vTarget.TakenInTree = true;
KeyValuePair <int, float> el = new KeyValuePair <int, float>(vTarget.IndexInModel, nearestNeighbor.CurrentDistance);
vSource.KDTreeSearch.Add(el);
break;
}
}
if ((vSource.KDTreeSearch.Count) >= 1)
{
break;
}
}
}
//if (vSource.KDTreeSearch.Count == 0)
//{
// System.Windows.Forms.MessageBox.Show("Error in finding neighbour for index " + i.ToString());
//}
}
if (KdTree_Rednaxela.pLeft != null)
{
SetRecursive(KdTree_Rednaxela.pLeft);
}
if (KdTree_Rednaxela.pRight != null)
{
SetRecursive(KdTree_Rednaxela.pRight);
}
GlobalVariables.ShowLastTimeSpan("Find neighbours");
//RemoveAllVerticesBasedOnRadius(pointCloud);
}
public static void ShowLastTimeSpan(string name)
{
System.Diagnostics.Debug.WriteLine("--Duration for " + name + " : " + GlobalVariables.TimeSpanString());
}
public PointCloudVertices AlignPointClouds_SVD_WithShuflleEffect(bool axesRotateEffect, PointCloudVertices pointCloudSource, PointCloudVertices pointCloudTarget)
{
try
{
if (pointCloudSource == null || pointCloudTarget == null || pointCloudSource.Count == 0 || pointCloudTarget.Count == 0)
{
System.Diagnostics.Debug.WriteLine("PCA - please check point clouds ");
return(null);
}
this.Matrix = Matrix4d.Identity;
pointCloudSourceCentered = CalculatePCA_Internal(pointCloudSource);
PrepareTargetTree(pointCloudTarget);
PointCloudVertices myPointCloudIteration = PointCloudVertices.CloneVertices(pointCloudSource);
for (int i = 0; i < MaxmimumIterations; i++)
{
double meanDistance = SVD_Iteration(myPointCloudIteration);
System.Diagnostics.Debug.WriteLine("-->> Iteration " + i.ToString() + " : Mean Distance : " + meanDistance.ToString("G") + ": duration: " + GlobalVariables.TimeSpanString());
if (meanDistance < thresholdConvergence)
{
break;
}
myPointCloudIteration = pointCloudResultBest;
}
//final check:
pointCloudResultCentered = CalculatePCA_Internal(pointCloudResult);
//"Shuffle" effect - the target points are in other order after kdtree search:
//The mean distance calculated again, as check (was calculated before in the kdTree routine)
MeanDistance = PointCloudVertices.MeanDistance(pointCloudResult, pointCloudTargetKDTree);
System.Diagnostics.Debug.WriteLine("-->> TO CHECK: PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
//MeanDistance = PointCloudVertices.MeanDistance(pointCloudResult, pointCloudTarget);
//System.Diagnostics.Debug.WriteLine("-->> PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
this.Matrix = AdjustSourceTargetByTranslation(Matrix, pointCloudSource, pointCloudTarget);
pointCloudResult = Matrix.TransformPoints(pointCloudSource);
pointCloudResultCentered = CalculatePCA_Internal(pointCloudResult);
//MeanDistance = PointCloudVertices.MeanDistance(pointCloudResult, pointCloudTarget);
//System.Diagnostics.Debug.WriteLine("-->> PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
//for display later:
}
catch
{
System.Windows.Forms.MessageBox.Show("Error aligning point cloud");
}
return(pointCloudResult);
}
private void ReadObjFile(string fileOBJ)
{
this.FileNameLong = fileOBJ;
IOUtils.ExtractDirectoryAndNameFromFileName(this.FileNameLong, ref this.FileNameShort, ref this.Path);
string line = string.Empty;
Vector3 vector;
Vector3 color;
List <Vector3> vectors = new List <Vector3>();
List <Vector3> colors = new List <Vector3>();
List <Vector3> normals = new List <Vector3>();
List <uint> indices = new List <uint>();
List <uint> indicesNormals = new List <uint>();
List <uint> indicesTexture = new List <uint>();
try
{
using (StreamReader streamReader = new StreamReader(fileOBJ))
{
while (!streamReader.EndOfStream)
{
line = streamReader.ReadLine().Trim();
if (!line.StartsWith("#"))
{
while (line.EndsWith("\\"))
{
line = line.Substring(0, line.Length - 1) + streamReader.ReadLine().Trim();
}
string str1 = GlobalVariables.TreatLanguageSpecifics(line);
string[] strArrayRead = str1.Split();
if (strArrayRead.Length >= 0)
{
switch (strArrayRead[0].ToLower())
{
case "mtllib":
if (strArrayRead.Length < 2)
{
System.Windows.Forms.MessageBox.Show("Error reading obj file (mtllib) in line : " + line);
}
this.Texture = IOUtils.ReadTexture(strArrayRead[1], fileOBJ);
break;
case "v": //Vertex
IOUtils.HelperReadVector3dAndColor(strArrayRead, out vector, out color);
vectors.Add(vector);
colors.Add(color);
break;
case "vt": //Texture
if (strArrayRead.Length < 3)
{
System.Windows.Forms.MessageBox.Show("Error reading obj file (Texture) in line : " + line);
}
Vector3d vector1 = new Vector3d(0, 0, 0);
double.TryParse(strArrayRead[1], NumberStyles.Float | NumberStyles.AllowThousands, (IFormatProvider)null, out vector1.X);
double.TryParse(strArrayRead[2], NumberStyles.Float | NumberStyles.AllowThousands, (IFormatProvider)null, out vector1.Y);
this.TextureCoords.Add(new double[2] {
(double)vector1.X, (double)vector1.Y
});
break;
case "vn": //Normals
if (strArrayRead.Length < 4)
{
System.Windows.Forms.MessageBox.Show("Error reading obj file (Normals) in line : " + line);
}
Vector3 vector2 = new Vector3(0, 0, 0);
float.TryParse(strArrayRead[1], NumberStyles.Float | NumberStyles.AllowThousands, (IFormatProvider)null, out vector2.X);
float.TryParse(strArrayRead[2], NumberStyles.Float | NumberStyles.AllowThousands, (IFormatProvider)null, out vector2.Y);
float.TryParse(strArrayRead[3], NumberStyles.Float | NumberStyles.AllowThousands, (IFormatProvider)null, out vector2.Z);
//vector2.NormalizeNew();
normals.Add(vector2);
break;
case "f":
IOUtils.ReadIndicesLine(strArrayRead, indices, indicesNormals, indicesTexture);
break;
case "g":
//if (myNewModel.Triangles.Count > 0)
//{
// if (myNewModel.TextureBitmap != null)
// {
// p.ColorOverall = System.Drawing.Color.FromArgb(1, 1, 1);
// }
// else
// {
// double r = Convert.ToSingle(0.3 * Math.Cos((double)(23 * myNewModel.Parts.Count)) + 0.5);
// double g = Convert.ToSingle(0.5f * Math.Cos((double)(17 * myNewModel.Parts.Count + 1)) + 0.5);
// double b = Convert.ToSingle(0.5f * Math.Cos((double)myNewModel.Parts.Count) + 0.5);
// p.ColorOverall = System.Drawing.Color.FromArgb(Convert.ToInt32(r * byte.MaxValue), Convert.ToInt32(g * byte.MaxValue), Convert.ToInt32(b * byte.MaxValue));
// }
// //p.ColorOverall = myNewModel.TextureBitmap != null ? new Vector3d(1, 1, 1) : new Vector3d(0.3 * Math.Cos((double)(23 * myNewModel.Parts.Count)) + 0.5, 0.5f * Math.Cos((double)(17 * myNewModel.Parts.Count + 1)) + 0.5, 0.5f * Math.Cos((double)myNewModel.Parts.Count) + 0.5);
// myNewModel.Parts.Add(new Part(p));
//}
//if (strArrayRead.Length > 1)
// p.Name = str1.Replace(strArrayRead[1], "");
//myNewModel.Triangles.Clear();
break;
}
}
}
}
streamReader.Close();
}
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("Error reading obj file (general): " + line + " ; " + err.Message);
}
if (indices.Count != vectors.Count)
{
for (uint i = Convert.ToUInt32(indices.Count); i < vectors.Count; i++)
{
indices.Add(i);
}
}
AssignData(vectors, colors, normals, indices, indicesNormals, indicesTexture);
}