public PointCloud AlignPointClouds_OneVector(PointCloud pointCloudSource, PointCloud pointCloudTarget, int vectorNumberSource, int vectorNumberTarget)
{
//-------------------
pcSourceCentered = CalculatePCA_Internal(pointCloudSource);
//second object:
//-----------
pcTargetCentered = CalculatePCA_Internal(pointCloudTarget);
//Vector3 v = TargetPCVectors[vectorNumberTarget];
//v.X = -v.X;
//v.Y = -v.Y;
//v.Z = -v.Z;
//TargetPCVectors[vectorNumberTarget] = v;
Matrix3 R = new Matrix3();
//R = R.RotationOneVectorToAnother(TargetPCVectors[vectorNumber], SourcePCVectors[vectorNumber]);
R = R.RotationOneVectorToAnother(pointCloudSource.PCAAxes[vectorNumberSource].Vector, pointCloudTarget.PCAAxes[vectorNumberTarget].Vector);
//R.CheckRotationMatrix();
//
//test:
//Vector3 testV = R.MultiplyVector(sourceV);
PointCloud pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.SubtractVectorRef(pointCloudResult, pointCloudSource.CentroidVector);
PointCloud.Rotate(pointCloudResult, R);
PointCloud.AddVectorToAll(pointCloudResult, pointCloudTarget.CentroidVector);
pcResultCentered = CalculatePCA_Internal(pointCloudResult);
MeanDistance = PointCloud.MeanDistance(pointCloudResult, pointCloudTarget);
System.Diagnostics.Debug.WriteLine("-->> PCA (V) - Mean Distance : " + MeanDistance.ToString("0.000000"));
return(pointCloudResult);
}
public PointCloud AlignToCenter(PointCloud pointCloudSource)
{
pcSourceCentered = CalculatePCA_Internal(pointCloudSource);
Matrix3 R = new Matrix3();
R = R.RotationChangeBasis(pointCloudSource.PCAAxes.ListVectors);
PointCloud pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.SubtractVectorRef(pointCloudResult, pointCloudSource.CentroidVector);
PointCloud.Rotate(pointCloudResult, R);
pcResultCentered = CalculatePCA_Internal(pointCloudResult);
return(pointCloudResult);
}
