private void button2_Click(object sender, EventArgs e)
{
T = ICPTransformation.ComputeTransformation(Shape1, Shape2);
List <Point> Shape2T = ApplyTransformation(T, Shape2);
Pen pBlue = new Pen(Brushes.Blue, 1);
Pen pRed = new Pen(Brushes.Red, 1);
Graphics g = panel2.CreateGraphics();
DisplayShape(Shape1, pBlue, g);
DisplayShape(Shape2T, pRed, g);
MessageBox.Show("Cost = " + ICPTransformation.ComputeCost(Shape1, Shape2, T).ToString());
}
private void button3_Click(object sender, EventArgs e)
{
double[] cost = new double[Shape1.Count];
for (int i = 0; i < Shape1.Count; i++)
{
double xprime = T.A * Shape2[i].X + T.B * Shape2[i].Y + T.T1;
double yprime = -1 * T.B * Shape2[i].X + T.A * Shape2[i].Y + T.T2;
cost[i] = (Shape1[i].X - xprime) * (Shape1[i].X - xprime) + (Shape1[i].Y - yprime) * (Shape1[i].Y - yprime);
}
int count = (int)(Shape1.Count * 0.8) + 1;
int[] index = new int[count];
for (int j = 0; j < count; j++)//remove 20% of the points with the largest errors
{
double min = cost.Min();
index[j] = cost.ToList().IndexOf(min);
cost[index[j]] = cost.Max();
}
//Sort the indexes in order to NOT show a random shape
Array.Sort(index);
for (int i = 0; i < index.Length; i++)
{
Shape1Transformed.Add(Shape1[index[i]]);
Shape2Transformed.Add(Shape2[index[i]]);
}
Transformation T2 = ICPTransformation.ComputeTransformation(Shape1Transformed, Shape2Transformed);
List <Point> Shape2T = this.ApplyTransformation(T2, Shape2Transformed);
Pen pBlue = new Pen(Brushes.Blue, 1);
Pen pRed = new Pen(Brushes.Red, 1);
Graphics g = panel3.CreateGraphics();
DisplayShape(Shape1Transformed, pBlue, g);
DisplayShape(Shape2T, pRed, g);
MessageBox.Show("Cost = " + ICPTransformation.ComputeCost(Shape1Transformed, Shape2Transformed, T2).ToString());
}
