public static double Test6_Bunny_ExpectedError(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model3D model3DTarget = new Model3D(path + "\\bunny.obj");
myVerticesTarget = model3DTarget.VertexList;
Vertices.GetVertexMax(myVerticesTarget);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
//ICP converges with a rotation of
//R = R.RotationXYZ(60, 60, 60);
R = R.RotationXYZ(65, 65, 65);
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
//private static List<Vertex> verticesTarget;
//private static List<Vertex> verticesSource;
// private static List<Vertex> vectorsResult;
public static double Test1_Translation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateSomePoints();
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 10, 3, 8);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeScale_Inhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByVector(myVerticesSource, new Vertex(1, 2, 3));
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeTranslation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, -300, 0);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test9_Inhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
//myVerticesTarget = Vertices.CreateSomePoints();
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.InhomogenousTransform(myVerticesSource, 2);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test3_Scale(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = CreateSomePoints();
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByFactor(myVerticesSource, 0.2);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeRotate(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
R = R.RotateSome();
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test2_RotationX30Degrees(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = Vertices.CreateSomePoints();
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = Matrix3d.CreateRotationX(30);
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeRotateTranslate_ScaleInhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, 0, 149);
VertexUtils.ScaleByVector(myVerticesSource, new Vertex(1, 2, 3));
Matrix3d R = new Matrix3d();
R = R.RotateSome();
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test8_CubeOutliers_Rotate(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = Vertices.CreateCube_Corners(50);
Model3D myModel = Example3DModels.Cuboid("Cuboid", 20f, 40f, 100, new Vector3d(1, 1, 1), null);
myVerticesTarget = myModel.VertexList;
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
R = R.Rotation30Degrees();
VertexUtils.RotateVertices(myVerticesSource, R);
VertexUtils.CreateOutliers(myVerticesSource, 5);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test7_Face_KnownTransformation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model3D model3DTarget = new Model3D(path + "\\KinectFace1.obj");
myVerticesTarget = model3DTarget.VertexList;
Vertices.GetVertexMax(myVerticesTarget);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByFactor(myVerticesSource, 0.9);
Matrix3d R = new Matrix3d();
R = R.Rotation60Degrees();
VertexUtils.RotateVertices(myVerticesSource, R);
VertexUtils.TranslateVertices(myVerticesSource, 0.3, 0.5, -0.4);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}