private Matrix4d Helper_FindTransformationMatrix(List <Vertex> pointsTarget, List <Vertex> pointsSource)
{
Matrix4d myMatrix;
if (ICPVersion == ICP_VersionUsed.Horn)
{
MatrixUtilsNew.FindTransformationMatrix(Vertices.ConvertToVector3dList(pointsSource), Vertices.ConvertToVector3dList(pointsTarget), this.LandmarkTransform);
myMatrix = LandmarkTransform.Matrix;
}
else
{
myMatrix = SVD.FindTransformationMatrix(Vertices.ConvertToVector3dList(pointsTarget), Vertices.ConvertToVector3dList(pointsSource), ICPVersion);
}
return(myMatrix);
}
private Matrix4d Helper_FindTransformationMatrix(PointCloudVertices pointsSource, PointCloudVertices pointsTarget)
{
Matrix4d myMatrix;
if (ICPSettings.ICPVersion == ICP_VersionUsed.Horn)
{
MathUtilsVTK.FindTransformationMatrix(PointCloudVertices.ToVectors(pointsSource), PointCloudVertices.ToVectors(pointsTarget), this.LandmarkTransform);
myMatrix = LandmarkTransform.Matrix;
}
else
{
myMatrix = SVD.FindTransformationMatrix(PointCloudVertices.ToVectors(pointsSource), PointCloudVertices.ToVectors(pointsTarget), ICPSettings.ICPVersion);
}
return(myMatrix);
}
private Matrix4 Helper_FindTransformationMatrix(PointCloud resultKDTree)
{
Matrix4 myMatrix;
if (ICPSettings.ICPVersion == ICP_VersionUsed.Horn)
{
MathUtilsVTK.FindTransformationMatrix(pointsSource, resultKDTree, this.LandmarkTransform);
myMatrix = LandmarkTransform.Matrix;
}
else
{
if (ICPSettings.IgnoreFarPoints)
{
myMatrix = SVD.FindTransformationMatrix_MinimumDistance(pointsSource, resultKDTree, ICPSettings.ICPVersion, this.MeanDistance).ToMatrix4();
}
else
{
myMatrix = SVD.FindTransformationMatrix(pointsSource, resultKDTree, ICPSettings.ICPVersion).ToMatrix4();
}
}
return(myMatrix);
}