public void TestMapping()
{
// Referenční soubor
IFileReader fileReader = new ObjFileReader("");
List <Vector <float> > referPoints = fileReader.ReadVertices();
// Zdrojový soubor
fileReader = new ObjFileReader("");
List <Vector <float> > sourcePoints = fileReader.ReadVertices();
// Doplnit maximální vzdálenost
IPointMapping bruteForceMapping = new BruteForceMapping(referPoints, 50f);
List <Vector <float> > bruteForceMappedPoints = bruteForceMapping.MapPoints(sourcePoints, out List <Vector <float> > mappedSourcePoints);
// Doplnit maximální vzdálenost
IPointMapping kdMapping = new KdTreeMapping(referPoints, 50f);
List <Vector <float> > kdMappedPoints = kdMapping.MapPoints(sourcePoints, out mappedSourcePoints);
Assert.AreEqual(bruteForceMappedPoints.Count, kdMappedPoints.Count);
bool allEqual = true;
for (int i = 0; i < bruteForceMappedPoints.Count; i++)
{
if (!bruteForceMappedPoints[i].Equals(kdMappedPoints[i]))
{
allEqual = false;
break;
}
}
Assert.IsTrue(allEqual);
}
/// <summary>
/// Registers source points to target points. It does not change just a position of source points but also deforms it.
/// </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)
{
// Compute a rigid registration between source and target points so they overlap.
Log.Info("Registering points.");
List <Vector <float> > registeredSourcePoints = this.rigidRegistration.ComputeRegistration(sourcePoints, targetPoints);
/*
* Find mapped pairs between registered source points and target points (they overlap) because one can be smaller than the other and control points should
* be generated only on the mapped part. For example imagine a head as source points and a face as target points. Control points should be generated
* only on the face of source points.
*/
Log.Info("Mapping points.");
KdTreeMapping treeMapping = new KdTreeMapping();
List <Vector <float> > mappedSourcePoints;
List <Vector <float> > mappedTargetPoints;
treeMapping.MapPoints(registeredSourcePoints, targetPoints, out mappedSourcePoints, out mappedTargetPoints);
// Selects random points (control points) from the mapped source points. Control points are used for mapping of deformed parts of a mesh.
Log.Info("Generating control points.");
ControlPointsGenerator pointsGenerator = new ControlPointsGenerator(mappedSourcePoints);
List <Vector <float> > controlPoints = pointsGenerator.GetRandomPoints();
/*
* Compute correction vectors for each control point. It is done by searching points in an area around the control point. Afterwards these searched points are
* passed to the rigid registration which returns a transformation matrix for related to mapping between the area and the target points. This matrix is then used
* to transform the control point and the correction vector is computed as difference between transformed control point and its original value.
*/
Log.Info("Computing correction vectors.");
List <Vector <float> > correctionVectors = new List <Vector <float> >();
for (int i = 0; i < controlPoints.Count; i++)
{
List <Vector <float> > closePoints = pointsGenerator.FindClosePoints(controlPoints[i]);
Matrix <float> transformMatrix = this.rigidRegistration.ComputeRegistrationMatrix(closePoints, targetPoints);
Vector <float> copyPoint = controlPoints[i].Clone();
copyPoint = transformMatrix * copyPoint;
correctionVectors.Add(copyPoint - controlPoints[i]);
}
// Interpolate correction vectors for a whole registered source point cloud. Each point in the point cloud will get own correction vector.
Log.Info("Interpolating correction vectors.");
Rbf rbf = new Rbf();
List <Vector <float> > interpolatedCorrectionVectors = rbf.Interpolate(registeredSourcePoints, controlPoints, correctionVectors);
for (int i = 0; i < registeredSourcePoints.Count; i++)
{
registeredSourcePoints[i] = registeredSourcePoints[i] + interpolatedCorrectionVectors[i];
}
return(registeredSourcePoints);
}
