protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
List <double> tform = new List <double>();
/// initialise parameters
///import
if (!DA.GetDataList("tform", tform))
{
return;
}
/// 0. error catching
/// 1. decompose tform into translation
/// 2. decompose tform in euler XYZ rotations
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
///0.
if (tform.Count != 16)
{
throw new Size_Exception(string.Format("Need[16, 1] parameters"));
}
/// 1.
Vector3d T = new Vector3d(tform[3], tform[7], tform[11]);
/// 2.
var param = new MWNumericArray(16, 1, tform.ToArray());
Segmentation.segment segment_mesh = new Segmentation.segment();
MWArray rotXYZ = new MWNumericArray();
rotXYZ = segment_mesh.G_rotm2eul(param);
/// 4.
MWNumericArray na = (MWNumericArray)rotXYZ;
double[] dc = (double[])na.ToVector(0);
/// 5.
var Rhino_rotXYZ = new List <double>(dc);
Vector3d R = new Vector3d(Rhino_rotXYZ[0], Rhino_rotXYZ[1], Rhino_rotXYZ[2]);
/// 6.
DA.SetData("R", R);
DA.SetData("t", T);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
List <Point3d> Rhino_points = new List <Point3d>();
/// initialise parameters
double T_N = 0.0, D = 0.0, M = 0.0, O = 0.0, T_s = 0.0;
List <double> Rhino_indices = new List <double>();
List <double> Rhino_xyz = new List <double>();
///import data
if (!DA.GetDataList("Points", Rhino_points))
{
return;
}
if (!DA.GetData("ThresValN", ref T_N))
{
return;
}
if (!DA.GetData("MaxDist", ref D))
{
return;
}
if (!DA.GetData("Minsize", ref M))
{
return;
}
if (!DA.GetData("Offset", ref O))
{
return;
}
if (!DA.GetData("Tilesize", ref T_s))
{
return;
}
/// 1. decompose points into doubles (rhinocommon => .NET)
/// 2. create appropriete matlab arrays (.NET => Matlab)
/// 3. run matlab function (Matlab)
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
/// 1.
for (int i = 0; i < Rhino_points.Count; i++)
{
Rhino_xyz[i * 3] = Rhino_points[i].X;
Rhino_xyz[i * 3 + 1] = Rhino_points[i].Y;
Rhino_xyz[i * 3 + 2] = Rhino_points[i].Z;
}
/// 2.
var Matlab_xyz = new MWNumericArray(Rhino_points.Count, 3, Rhino_xyz.ToArray());
var Matlab_n = new MWNumericArray();
var Matlab_c = new MWNumericArray();
/// 3.
Segmentation.segment segment_mesh = new Segmentation.segment();
MWArray cluster = new MWNumericArray();
cluster = segment_mesh.G_RegionGrowingNC2(Matlab_xyz, Matlab_n, Matlab_c, T_N, D, M, O, T_s);
/// 4.
MWNumericArray na = (MWNumericArray)cluster;
double[] dc = (double[])na.ToVector(0);
/// 5.
Rhino_indices = new List <double>(dc);
/// 6.
DA.SetDataList(0, Rhino_indices);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
PointCloud Rhino_Cloud1 = new PointCloud();
PointCloud Rhino_Cloud2 = new PointCloud();
/// initialise parameters
double Metric = 0.0, InlierRatio = 1.0, MaxIterations = 60;
///import
if (!DA.GetData("pc_moving", ref Rhino_Cloud1))
{
return;
}
if (!DA.GetData("pc_fixed", ref Rhino_Cloud2))
{
return;
}
if (!DA.GetData("Metric", ref Metric))
{
return;
}
if (!DA.GetData("InlierRatio", ref InlierRatio))
{
return;
}
if (!DA.GetData("MaxIterations", ref MaxIterations))
{
return;
}
/// 1. decompose points into doubles (rhinocommon => .NET)
/// 2. create appropriete matlab arrays (.NET => Matlab)
/// 3. run matlab function (Matlab)
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
/// 1.
var Rhino_xyz1 = Rhino_Cloud1.GetPoints();
var Rhino_xyz2 = Rhino_Cloud2.GetPoints();
List <double> xyz1 = new List <double>();
List <double> xyz2 = new List <double>();
for (int i = 0; i < Rhino_Cloud1.Count; i++)
{
xyz1.Add(Rhino_xyz1[i].X);
xyz1.Add(Rhino_xyz1[i].Y);
xyz1.Add(Rhino_xyz1[i].Z);
}
var Matlab_xyz1 = new MWNumericArray(Rhino_Cloud1.Count, 3, xyz1.ToArray());
for (int j = 0; j < Rhino_Cloud2.Count; j++)
{
xyz2.Add(Rhino_xyz2[j].X);
xyz2.Add(Rhino_xyz2[j].Y);
xyz2.Add(Rhino_xyz2[j].Z);
}
var Matlab_xyz2 = new MWNumericArray(Rhino_Cloud2.Count, 3, xyz2.ToArray());
/// 3.
Segmentation.segment segment_mesh = new Segmentation.segment();
//MWArray[] Result = new MWArray[2];
MWArray cluster = new MWNumericArray();
cluster = segment_mesh.G_ICP(Matlab_xyz1, Matlab_xyz2, Metric, InlierRatio, MaxIterations);
/// 4.
MWNumericArray na = (MWNumericArray)cluster;
double[] dc = (double[])na.ToVector(0);
/// 5.
var Rhino_param = new List <double>(dc);
/// 6.
DA.SetDataList(0, Rhino_param);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
Mesh Rhino_mesh = new Mesh();
/// initialise parameters
double T_N = 0.0, T_C = 0.0, D = 0.0, M = 0.0, O = 0.0, T_s = 0.0;
List <double> Rhino_indices = new List <double>();
///import data
if (!DA.GetData("Mesh", ref Rhino_mesh))
{
return;
}
if (!DA.GetData("ThresValN", ref T_N))
{
return;
}
if (!DA.GetData("ThresValC", ref T_C))
{
return;
}
if (!DA.GetData("MaxDist", ref D))
{
return;
}
if (!DA.GetData("Minsize", ref M))
{
return;
}
if (!DA.GetData("Offset", ref O))
{
return;
}
if (!DA.GetData("Tilesize", ref T_s))
{
return;
}
///get mesh data to Matlab
/// 1. decompose mesh into face centroids/normals (rhinocommon => .NET)
/// 1a. compute normals if not present
/// 2. create appropriete matlab arrays (.NET => Matlab)
/// 3. run matlab function (Matlab)
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
/// 1.
var Rhino_c = new Point3f();
var Rhino_n = new Vector3f();
MeshFace Rhino_face = new MeshFace();
var C_xyz = new float[Rhino_mesh.Faces.Count * 3];
var C_n = new float[Rhino_mesh.Faces.Count * 3];
var C_c = new float[Rhino_mesh.Faces.Count * 3];
int r1, r2, r3, g1, g2, g3, b1, b2, b3, r, g, b;
///1a. check if normals are present
if (Rhino_mesh.FaceNormals.Count == 0)
{
Rhino_mesh.FaceNormals.ComputeFaceNormals();
}
/// 2.
for (int i = 0; i < Rhino_mesh.Faces.Count; i++)
{
Rhino_c = (Point3f)Rhino_mesh.Faces.GetFaceCenter(i);
C_xyz[i * 3] = Rhino_c.X;
C_xyz[i * 3 + 1] = Rhino_c.Y;
C_xyz[i * 3 + 2] = Rhino_c.Z;
Rhino_n = Rhino_mesh.FaceNormals[i];
C_n[i * 3] = Rhino_n.X;
C_n[i * 3 + 1] = Rhino_n.Y;
C_n[i * 3 + 2] = Rhino_n.Z;
Rhino_face = Rhino_mesh.Faces.GetFace(i);
if (Rhino_mesh.VertexColors.Count > 0)
{
r1 = Rhino_mesh.VertexColors[Rhino_face[0]].R;
g1 = Rhino_mesh.VertexColors[Rhino_face[0]].G;
b1 = Rhino_mesh.VertexColors[Rhino_face[0]].B;
r2 = Rhino_mesh.VertexColors[Rhino_face[1]].R;
g2 = Rhino_mesh.VertexColors[Rhino_face[1]].G;
b2 = Rhino_mesh.VertexColors[Rhino_face[1]].B;
r3 = Rhino_mesh.VertexColors[Rhino_face[2]].R;
g3 = Rhino_mesh.VertexColors[Rhino_face[2]].G;
b3 = Rhino_mesh.VertexColors[Rhino_face[2]].B;
r = (r1 + r2 + r3) / 3;
g = (g1 + g2 + g3) / 3;
b = (b1 + b2 + b3) / 3;
C_c[i * 3] = r;
C_c[i * 3 + 1] = g;
C_c[i * 3 + 2] = b;
}
}
var Matlab_xyz = new MWNumericArray(Rhino_mesh.Faces.Count, 3, C_xyz);
var Matlab_n = new MWNumericArray(Rhino_mesh.Faces.Count, 3, C_n);
var Matlab_c = new MWNumericArray(Rhino_mesh.Faces.Count, 3, C_c);
/// 3.
Segmentation.segment segment_mesh = new Segmentation.segment();
MWArray cluster = new MWNumericArray();
cluster = segment_mesh.G_RegionGrowingNC2(Matlab_xyz, Matlab_n, Matlab_c, T_N, T_C, D, M, O, T_s);
/// 4.
MWNumericArray na = (MWNumericArray)cluster;
double[] dc = (double[])na.ToVector(0);
/// 5.
Rhino_indices = new List <double>(dc);
/// 6.
DA.SetDataList(0, Rhino_indices);
}
protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
PointCloud Rhino_Cloud1 = new PointCloud();
PointCloud Rhino_Cloud2 = new PointCloud();
/// initialise parameters
double Metric = 0.0, InlierRatio = 0.2, MaxIterations = 20, Downsampling1 = 1.0, Downsampling2 = 1.0;
///import
if (!DA.GetData("pc_moving", ref Rhino_Cloud1))
{
return;
}
if (!DA.GetData("pc_fixed", ref Rhino_Cloud2))
{
return;
}
if (!DA.GetData("Metric", ref Metric))
{
return;
}
if (!DA.GetData("InlierRatio", ref InlierRatio))
{
return;
}
if (!DA.GetData("MaxIterations", ref MaxIterations))
{
return;
}
if (!DA.GetData("Downsample pc_moving", ref Downsampling1))
{
return;
}
if (!DA.GetData("Downsample pc_fixed", ref Downsampling2))
{
return;
}
/// 0. error catching
/// 1. decompose points into doubles (rhinocommon => .NET)
/// 2. create appropriete matlab arrays (.NET => Matlab)
/// 3. run matlab function (Matlab)
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
if (Rhino_Cloud1.Count <= 1 || Rhino_Cloud2.Count <= 1)
{
throw new Size_Exception(string.Format("Use point clouds with more than 1 point"));
}
if (Downsampling1 == 0 || Downsampling2 == 0)
{
throw new Size_Exception(string.Format("Do not use 0 as downsampling"));
}
/// 1.
var Rhino_xyz1 = Rhino_Cloud1.GetPoints();
var Rhino_xyz2 = Rhino_Cloud2.GetPoints();
List <double> xyz1 = new List <double>();
List <double> xyz2 = new List <double>();
int interval1 = (int)(1 / Downsampling1);
int interval2 = (int)(1 / Downsampling2);
var Rhino_xyz11 = Rhino_xyz1
.Where((v, index) => index % interval1 == 0)
.ToList();
var Rhino_xyz22 = Rhino_xyz2
.Where((v, index) => index % interval2 == 0)
.ToList();
for (int i = 0; i < Rhino_xyz11.Count; i++)
{
xyz1.Add(Rhino_xyz11[i].X);
xyz1.Add(Rhino_xyz11[i].Y);
xyz1.Add(Rhino_xyz11[i].Z);
}
var Matlab_xyz1 = new MWNumericArray(Rhino_xyz11.Count, 3, xyz1.ToArray());
for (int j = 0; j < Rhino_xyz22.Count; j++)
{
xyz2.Add(Rhino_xyz22[j].X);
xyz2.Add(Rhino_xyz22[j].Y);
xyz2.Add(Rhino_xyz22[j].Z);
}
var Matlab_xyz2 = new MWNumericArray(Rhino_xyz22.Count, 3, xyz2.ToArray());
/// 3.
Segmentation.segment segment_mesh = new Segmentation.segment();
var mwca = (MWCellArray)segment_mesh.G_ICP2(Matlab_xyz1, Matlab_xyz2, Metric, InlierRatio, MaxIterations);
/// 4.
MWNumericArray na0 = (MWNumericArray)mwca[1];
double[] dc0 = (double[])na0.ToVector(0);
MWNumericArray na1 = (MWNumericArray)mwca[2];
double[] dc1 = (double[])na1.ToVector(0);
/// 5.
var Rhino_param0 = new List <double>(dc0);
var Rhino_param1 = new List <double>(dc1);
/// 6.
DA.SetDataList(0, Rhino_param0);
DA.SetDataList(1, Rhino_param1);
}
