public static Matrix4d TryoutPointsSA(List <Vertex> pointsTarget, List <Vertex> pointsSource, ICPSolution res, LandmarkTransform myLandmarkTransform)
{
//transform:
MatrixUtilsNew.FindTransformationMatrix(Vertices.ConvertToVector3dList(res.PointsSource), Vertices.ConvertToVector3dList(res.PointsTarget), myLandmarkTransform);//, accumulate);
res.Matrix = myLandmarkTransform.Matrix;
return(res.Matrix);
}
private Matrix4d Helper_FindTransformationMatrix(List <Vertex> pointsTarget, List <Vertex> pointsSource)
{
Matrix4d myMatrix;
if (ICPVersion == ICP_VersionUsed.Horn)
{
MatrixUtilsNew.FindTransformationMatrix(Vertices.ConvertToVector3dList(pointsSource), Vertices.ConvertToVector3dList(pointsTarget), this.LandmarkTransform);
myMatrix = LandmarkTransform.Matrix;
}
else
{
myMatrix = SVD.FindTransformationMatrix(Vertices.ConvertToVector3dList(pointsTarget), Vertices.ConvertToVector3dList(pointsSource), ICPVersion);
}
return(myMatrix);
}
private static Matrix4d TryoutNewPoint(int iPoint, List <Vertex> pointsTarget, List <Vertex> pointsSource, List <Vertex> pointsTargetTrial, List <Vertex> pointsSourceTrial, LandmarkTransform myLandmarkTransform)
{
Vertex p1 = pointsTarget[iPoint];
Vertex p2 = pointsSource[iPoint];
pointsTargetTrial.Add(p1);
pointsSourceTrial.Add(p2);
MatrixUtilsNew.FindTransformationMatrix(Vertices.ConvertToVector3dList(pointsSourceTrial), Vertices.ConvertToVector3dList(pointsTargetTrial), myLandmarkTransform);//, accumulate);
Matrix4d myMatrix = myLandmarkTransform.Matrix;
return(myMatrix);
}