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 Clouds_AlignPCAAxes()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
PointCloudVertices pointCloudTarget = PointCloudVertices.FromPointCloud(this.pSource);
pointCloudTarget = PCA.RotateToOriginAxes(pointCloudTarget);
PointCloudVertices pointCloudSource = PointCloudVertices.FromPointCloud(this.pTarget);
PointCloudVertices pointCloudResult = PCA.RotateToOriginAxes(pointCloudSource);
pResult = pointCloudResult.ToPointCloud();
//pResult.SetColor(new OpenTK.Vector3(1, 0, 0));
pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices());
SaveResultCloudAndShow(pointCloudResult);
//DisplayResultPointCloud();
//DisplayObjects();
}
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");
}