private void Clouds_ICP() { if (!GetFirstTwoCloudsFromOpenGLControl()) { return; } //------------------ //ICP ICPLib.IterativeClosestPointTransform icpInstance = new ICPLib.IterativeClosestPointTransform(); icpInstance.Settings_Reset_RealData(); icpInstance.ICPSettings.ICPVersion = ICP_VersionUsed.Scaling_Zinsser; icpInstance.ICPSettings.MaximumNumberOfIterations = 50; //icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela_ExcludePoints; icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela; PointCloudVertices pointCloudResult = icpInstance.PerformICP(this.pSource.ToPointCloudVertices(), this.pTarget.ToPointCloudVertices()); pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices()); SaveResultCloudAndShow(pointCloudResult); this.registrationMatrix = icpInstance.Matrix; registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt"); }
private void toolStripCalculateRegistrationLoaded_Moved_Click(object sender, EventArgs e) { if (pointCloudFirstAfterLoad != null) { registrationMatrix = this.OGLControl.CalculateRegistrationMatrix(this.pointCloudFirstAfterLoad); registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt"); } else { System.Windows.Forms.MessageBox.Show("No Point cloud available"); } }
private void Clouds_PCA() { if (!GetFirstTwoCloudsFromOpenGLControl()) { return; } PCA pca = new PCA(); pca.MaxmimumIterations = 1; PointCloudVertices pointCloudResult = pca.AlignPointClouds_SVD(this.pSource.ToPointCloudVertices(), this.pTarget.ToPointCloudVertices()); pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices()); SaveResultCloudAndShow(pointCloudResult); this.registrationMatrix = pca.Matrix; registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt"); }
private void toolStripCalculateRegistration1_2_Click(object sender, EventArgs e) { registrationMatrix = this.OGLControl.CalculateRegistrationMatrix1_2(); registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt"); }