private float ComputeErrorAfterTransform(CorrespondenceCollection correspondences,
Transform originalTransform, Transform currentTransform,
AggregationMethods.AggregationMethod aggregationMethod)
{
//Apply the newTransform to the model points
List <Point> modelPoints = TransformPoints(correspondences.ModelPoints, originalTransform, currentTransform);
//Normalize the points if required
Matrix4x4 normalizationMatrix = Matrix4x4.identity;
if (configuration.NormalizePoints)
{
normalizationMatrix = new PointNormalizer().ComputeNormalizationMatrix(modelPoints, correspondences.StaticPoints);
}
//Compute the correspondence errors
List <float> errors = ComputeCorrespondenceErrors(
normalizationMatrix,
modelPoints: modelPoints,
staticPoints: correspondences.StaticPoints
);
//Always use the mean of the errors for the termination error to
// ensure that the number of correspondences does not influence the error
float error = aggregationMethod(errors);
return(error);
}
public float ComputeInitialError(CorrespondenceCollection correspondences)
{
Matrix4x4 normalizationMatrix = Matrix4x4.identity;
if (configuration.NormalizePoints)
{
normalizationMatrix = new PointNormalizer().ComputeNormalizationMatrix(correspondences.ModelPoints, correspondences.StaticPoints);
}
List <float> errors = ComputeCorrespondenceErrors(
normalizationMatrix,
modelPoints: correspondences.ModelPoints,
staticPoints: correspondences.StaticPoints
);
//Aggregate the errors, use mean to ensure that the number of correspondences does not influence the error
float error = AggregationMethods.Mean(errors);
return(error);
}
public void Init()
{
normalizer = new PointNormalizer();
}
