public static Matrix4 TryoutPointsSA(PointCloud pointsTarget, PointCloud pointsSource, ICPSolution res, LandmarkTransform myLandmarkTransform)
{
//transform:
MathUtilsVTK.FindTransformationMatrix(res.PointsSource, res.PointsTarget, myLandmarkTransform);//, accumulate);
res.Matrix = myLandmarkTransform.Matrix;
return(res.Matrix);
}
public static Matrix4d TryoutPoints(PointCloudVertices pointsTarget, PointCloudVertices pointsSource, ICPSolution res, LandmarkTransform myLandmarkTransform)
{
res.PointsTarget = RandomUtils.ExtractPoints(pointsTarget, res.RandomIndices);
res.PointsSource = RandomUtils.ExtractPoints(pointsSource, res.RandomIndices);
//transform:
MathUtilsVTK.FindTransformationMatrix(PointCloudVertices.ToVectors(res.PointsSource), PointCloudVertices.ToVectors(res.PointsTarget), myLandmarkTransform);//, accumulate);
res.Matrix = myLandmarkTransform.Matrix;
return(res.Matrix);
}
private Matrix4 Helper_FindTransformationMatrixOld(PointCloud pointsSource, PointCloud pointsTarget)
{
Matrix4 myMatrix;
if (ICPSettings.ICPVersion == ICP_VersionUsed.Horn)
{
MathUtilsVTK.FindTransformationMatrix(pointsSource, pointsTarget, this.LandmarkTransform);
myMatrix = LandmarkTransform.Matrix;
}
else
{
myMatrix = SVD_Float.FindTransformationMatrix(pointsSource, pointsTarget, ICPSettings.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 static Matrix4d TryoutNewPoint(int iPoint, PointCloudVertices pointsTarget, PointCloudVertices pointsSource, PointCloudVertices pointsTargetTrial, PointCloudVertices pointsSourceTrial, LandmarkTransform myLandmarkTransform)
{
Vertex p1 = pointsTarget[iPoint];
Vertex p2 = pointsSource[iPoint];
pointsTargetTrial.Add(p1);
pointsSourceTrial.Add(p2);
MathUtilsVTK.FindTransformationMatrix(PointCloudVertices.ToVectors(pointsSourceTrial), PointCloudVertices.ToVectors(pointsTargetTrial), myLandmarkTransform);//, accumulate);
Matrix4d myMatrix = myLandmarkTransform.Matrix;
return(myMatrix);
}
private static Matrix4 TryoutNewPoint(int iPoint, PointCloud pointsTarget, PointCloud pointsSource, PointCloud pointsTargetTrial, PointCloud pointsSourceTrial, LandmarkTransform myLandmarkTransform)
{
Vector3 p1 = pointsTarget.Vectors[iPoint];
Vector3 p2 = pointsSource.Vectors[iPoint];
pointsTargetTrial.AddVector(p1);
pointsSourceTrial.AddVector(p2);
MathUtilsVTK.FindTransformationMatrix(pointsSourceTrial, pointsTargetTrial, myLandmarkTransform);//, accumulate);
Matrix4 myMatrix = myLandmarkTransform.Matrix;
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);
}