/// <summary>
/// at least source points should be non zero
/// </summary>
/// <param name="myPCLTarget"></param>
/// <param name="myPCLSource"></param>
/// <param name="myPCLResult"></param>
/// <param name="changeColor"></param>
public void Show3PointClouds(PointCloudVertices myPCLSource, PointCloudVertices myPCLTarget, PointCloudVertices myPCLResult, bool changeColor)
{
this.OpenGLControl.RemoveAllModels();
//target in green
List <System.Drawing.Color> myColors;
if (myPCLTarget != null)
{
if (changeColor)
{
myColors = ColorExtensions.ToColorList(myPCLTarget.Count, 0, 255, 0, 255);
PointCloudVertices.SetColorToList(myPCLTarget, myColors);
}
this.OpenGLControl.ShowPointCloud("ICP Target", myPCLTarget);
}
if (myPCLSource != null)
{
//source in white
myColors = ColorExtensions.ToColorList(myPCLSource.Count, 255, 255, 255, 255);
if (changeColor)
{
PointCloudVertices.SetColorToList(myPCLSource, myColors);
}
this.OpenGLControl.ShowPointCloud("ICP To be matched", myPCLSource);
}
if (myPCLResult != null)
{
//transformed in red
myColors = ColorExtensions.ToColorList(myPCLResult.Count, 255, 0, 0, 255);
if (changeColor)
{
PointCloudVertices.SetColorToList(myPCLResult, myColors);
}
this.OpenGLControl.ShowPointCloud("ICP Solution", myPCLResult);
}
}