/// <summary>
/// colors and indices are lost!!
/// </summary>
/// <param name="pc"></param>
/// <returns></returns>
public static PointCloud ResizeAndSort_XYZ(PointCloud pc)
{
pc.ResizeTo1();
List <Vector3> listSource = pc.ListVectors;
listSource.Sort(new Vector3_XYZ());
PointCloud pcNew = PointCloud.FromListVector3(listSource);
return(pcNew);
}
public static PointCloud CreateSomePoints()
{
float[] origin = { 0.0f, 0.0f, 0.0f };
List <Vector3> list = new List <Vector3>();
list.Add(new Vector3(100, 0, 0));
list.Add(new Vector3(0, 100, 0));
list.Add(new Vector3(0, 0, 100));
return(PointCloud.FromListVector3(list));
}
public static Matrix3 Rotation_ToOriginAxes(this Matrix3 mat, PointCloud cloudOrigin)
{
List <Vector3> list = new List <Vector3>();
list.Add(new Vector3(1, 0, 0));
list.Add(new Vector3(0, 1, 0));
list.Add(new Vector3(0, 0, 1));
PointCloud target = PointCloud.FromListVector3(list);
return(mat.RotationCoordinateChange(cloudOrigin, target));
}
private List <Vector3> TransformPointsAfterPCA(List <Vector3> listVector3)
{
PointCloud pc = PointCloud.FromListVector3(listVector3);
List <Vector3> listResult = PointCloud.CloneAll(pc).ListVectors;
Matrix3 R = Matrix3.Mult(U, VT);
listResult = TransformPoints(listResult, R);
return(listResult);
}
public PointCloud CalculatePCA(PointCloud pointsSource, int eigenvectorUsed)
{
List <Vector3> Vector3Source = pointsSource.ListVectors;
Centroid = pointsSource.CentroidVector;
List <Vector3> listTranslated = pointsSource.Clone().ListVectors;
Vector3Source.SubtractVector(Centroid);
SVD_ForListVectorsMassCentered(listTranslated, false);
List <Vector3> vectors = GetResultOfEigenvector(eigenvectorUsed, listTranslated);
return(PointCloud.FromListVector3(Vector3Source));
}
public static PointCloud SubtractVector(PointCloud pointCloud, Vector3 centroid)
{
List <Vector3> list = new List <Vector3>();
//List<Vector3> colors = new List<Vector3>();
for (int i = 0; i < pointCloud.Vectors.Length; i++)
{
Vector3 v = pointCloud.Vectors[i];
Vector3 translatedV = Vector3.Subtract(v, centroid);
v = translatedV;
list.Add(v);
}
PointCloud pc = PointCloud.FromListVector3(list);
pc.Colors = pointCloud.Colors;
pc.Indices = pointCloud.Indices;
return(pc);
}
public static PointCloud CreateCuboid(float u, float v, int numberOfPoints)
{
List <Vector3> points = new List <Vector3>();
float v0 = 0f;
for (int i = 0; i < numberOfPoints; i++)
{
points.Add(new Vector3(0, v0, 0));
points.Add(new Vector3(0, v0, u));
points.Add(new Vector3(u, v0, u));
points.Add(new Vector3(u, v0, 0));
v0 += v / numberOfPoints;
}
return(PointCloud.FromListVector3(points));
}
public static PointCloud ExtractPoints(PointCloud points, List <int> indices)
{
try
{
List <Vector3> output = new List <Vector3>();
for (int i = 0; i < indices.Count; i++)
{
int indexPoint = indices[i];
Vector3 p = points.Vectors[indexPoint];
output.Add(p);
}
return(PointCloud.FromListVector3(output));
}
catch (Exception err)
{
MessageBox.Show("Error in RandomUtils.ExtractPoints " + err.Message);
return(null);
}
}
public static Matrix4d FindTransformationMatrix_MinimumDistance(PointCloud pointsSource, PointCloud pointsTarget, ICP_VersionUsed icpVersionUsed, float minimumDistance)
{
minimumDistance *= minimumDistance * 2;
List <Vector3> sourceList = new List <Vector3>();
List <Vector3> targetList = new List <Vector3>();
int numberOfVectorsNotTaken = 0;
for (int i = 0; i < pointsSource.Vectors.Length; i++)
{
float distance = pointsSource.Vectors[i].DistanceSquared(pointsTarget.Vectors[i]);
if (distance < minimumDistance)
{
sourceList.Add(pointsSource.Vectors[i]);
targetList.Add(pointsTarget.Vectors[i]);
}
else
{
numberOfVectorsNotTaken++;
}
}
if (numberOfVectorsNotTaken > 0)
{
System.Diagnostics.Debug.WriteLine("Ignored vectors in SVD because too far: " + numberOfVectorsNotTaken.ToString() + " : out of : " + pointsSource.Count.ToString());
}
PointCloud pSourceNew = PointCloud.FromListVector3(sourceList);
PointCloud pTargetNew = PointCloud.FromListVector3(targetList);
if (pSourceNew == null || pTargetNew == null)
{
return(Matrix4d.Identity);
}
return(FindTransformationMatrix(pSourceNew, pTargetNew, icpVersionUsed));
}
public static PointCloud Cube_RegularGrid_Empty(float cubeSize, int numberOfPointsPerPlane)
{
return(PointCloud.FromListVector3(Cube_RegularGrid_Empty_List(cubeSize, numberOfPointsPerPlane)));
}
