public static TransformationMatrix3D Identity()
{
var transformationMatrix3D = new TransformationMatrix3D();
for (var i = 0; i < 4; i++)
{
transformationMatrix3D[i, i] = 1.0;
}
return transformationMatrix3D;
}
public static Collection<Point3D> Multiply(TransformationMatrix3D transform, Collection<Point3D> points)
{
var collection = new Collection<Point3D>();
foreach (var current in points)
{
collection.Add(transform*current);
}
return collection;
}
public Point3D Centroid(Collection<Point3D> points)
{
var count = points.Count;
var num = 0.0;
var num2 = 0.0;
var num3 = 0.0;
foreach (var current in points)
{
num += current.X;
num2 += current.Y;
num3 += current.Z;
}
var point3D = new Point3D(num/count, num2/count, num3/count);
Transform = new TransformationMatrix3D(new Vector3D(point3D.X, point3D.Y, point3D.Z), new RotationMatrix3D());
CalculateErrors(points, point3D);
return point3D;
}