/// <summary>
/// Registers source points to target points. It only translates and rotates whole mesh.
/// </summary>
/// <param name="sourcePoints">Source points.</param>
/// <param name="targetPoints">Target points.</param>
/// <returns>Registered source points.</returns>
public List <Vector <float> > ComputeRegistration(List <Vector <float> > sourcePoints, List <Vector <float> > targetPoints)
{
Log.Info("Computing registration.");
Log.Info("Cloning the given source.");
List <Vector <float> > copySourcePoints = new List <Vector <float> >();
sourcePoints.ForEach(point => copySourcePoints.Add(point.Clone()));
Matrix <float> transformationMatrix = this.ComputeRegistrationMatrix(sourcePoints, targetPoints);
Transformation3D.ApplyTransformation(copySourcePoints, transformationMatrix);
return(copySourcePoints);
}
/// <summary>
/// Registers source points to target points. It only translates and rotates whole mesh.
/// </summary>
/// <param name="sourcePoints">Source points.</param>
/// <param name="targetPoints">Target points.</param>
/// <returns>Transformation matrix.</returns>
public Matrix <float> ComputeRegistrationMatrix(List <Vector <float> > sourcePoints, List <Vector <float> > targetPoints)
{
Log.Info("Computing registration matrix.");
Log.Info("Cloning the given lists.");
// Copy points.
List <Vector <float> > copySourcePoints = new List <Vector <float> >();
sourcePoints.ForEach(point => copySourcePoints.Add(point.Clone()));
List <Vector <float> > copyTargetPoints = new List <Vector <float> >();
targetPoints.ForEach(point => copyTargetPoints.Add(point.Clone()));
int iteration = 0;
Matrix <float> transformationMatrix = Matrix <float> .Build.DenseIdentity(4);
List <Vector <float> > mappedSourcePoints;
List <Vector <float> > mappedTargetPoints;
Centroid mappedTargetCentroid;
do
{
Log.Debug("Number of iterations: " + iteration);
// Map points.
this.pointMapping.MapPoints(copySourcePoints, copyTargetPoints, out mappedSourcePoints, out mappedTargetPoints);
// Compute centroid of target points and translate them.
mappedTargetCentroid = new Centroid(mappedTargetPoints);
Transformation3D.Translate(copyTargetPoints, -mappedTargetCentroid.Value);
// Compute centroid of source points, translate them and add translation to a transformation matrix.
Centroid mappedSourceCentroid = new Centroid(mappedSourcePoints);
Transformation3D.Translate(copySourcePoints, -mappedSourceCentroid.Value);
transformationMatrix = Transformation3D.CreateTranslationMatrix(-mappedSourceCentroid.Value) * transformationMatrix;
// Compute rotation matrix, apply it on source points and add it to the transformation matrix.
Matrix <float> rotationMatrix = this.rotation.CalculateRotation(mappedSourcePoints, mappedTargetPoints);
Transformation3D.ApplyTransformation(copySourcePoints, rotationMatrix);
transformationMatrix = rotationMatrix * transformationMatrix;
} while (!this.CheckDistance(mappedSourcePoints, mappedTargetPoints) && ++iteration < this.numberOfIterations);
// Compute transformation from origin to a target position.
Centroid targetCentroid = new Centroid(targetPoints);
Centroid copyTargetCentroid = new Centroid(copyTargetPoints);
mappedTargetCentroid = new Centroid(mappedTargetPoints);
return(Transformation3D.CreateTranslationMatrix(targetCentroid.Value - (copyTargetCentroid.Value - mappedTargetCentroid.Value)) * transformationMatrix);
}
