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);
}
public PointCloud PerformICP(PointCloud mypointsSource, PointCloud myPointsTarget)
{
this.PTarget = myPointsTarget;
this.PSource = mypointsSource;
ResetToCenterOfMass();
if (this.ICPSettings.Prealign_PCA)
{
PCA pca = new PCA();
pca.MaxmimumIterations = 1;
pca.AxesRotateEffect = false;
this.PSource = pca.AlignPointClouds_SVD(this.PSource, this.PTarget);
}
if (ICPSettings.ICPVersion == ICP_VersionUsed.UsingStitchData)
{
return(PerformICP_Stitching());
}
else if (ICPSettings.ICPVersion == ICP_VersionUsed.RandomPoints)
{
return(PerformICP());
}
else
{
return(PerformICP());
}
}
public static double Test7_Face_KnownTransformation_PCA_15000(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "Models\\UnitTests";
Model model3DTarget = new Model(path + "\\KinectFace_1_15000.obj");
myPCLTarget = model3DTarget.PointCloudVertices;
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.9f);
Matrix3d R = new Matrix3d();
R = R.RotationXYZDegrees(60, 60, 60);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.Translate(myPCLSource, 0.3f, 0.5f, -0.4f);
PCA pca = new PCA();
myPCLResult = pca.AlignPointClouds_SVD(myPCLSource, myPCLTarget);
myPCLSource = myPCLResult;
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
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);
}