public Matrix4d CalculateRegistrationMatrix(PointCloud pcOriginal)
{
Vector3d v = new Vector3d();
Matrix4d myMatrix = Matrix4d.Identity;
if (this.GLrender.RenderableObjects.Count > 1)
{
RenderableObject o = this.GLrender.RenderableObjects[0];
PointCloud pc1 = o.PointCloud;
myMatrix = SVD.FindTransformationMatrix(v.ArrayVector3ToList(pcOriginal.Vectors), v.ArrayVector3ToList(pc1.Vectors), ICP_VersionUsed.Scaling_Umeyama);
//myMatrix = SVD.FindTransformationMatrix_WithoutCentroids(v.ArrayVector3ToList(pc1.Vectors), v.ArrayVector3ToList(pc2.Vectors), ICP_VersionUsed.Scaling_Umeyama);
}
else
{
System.Windows.Forms.MessageBox.Show("Please load two Point Clouds first");
}
return(myMatrix);
}
