public static void Rotate(PointCloud pointCloud, Matrix3 R)
{
pointCloud.Rotate(R);
//List<Vector3> listVectors = new List<Vector3>(pointCloud.Vectors);
//PointCloud.RotateVectors(listVectors, R);
//PointCloud.AssignNewVectorList(pointCloud, listVectors);
}
public static void ScaleByVector(PointCloud pc, Vector3 v)
{
Matrix3 R = Matrix3.Identity;
R[0, 0] = v.X;
R[1, 1] = v.Y;
R[2, 2] = v.Z;
pc.Rotate(R);
}
public static void ScaleByFactor(PointCloud pc, float scale)
{
Vector3 scaleVector = new Vector3(scale, scale, scale);
Matrix3 R = Matrix3.Identity;
R[0, 0] = scaleVector[0];
R[1, 1] = scaleVector[1];
R[2, 2] = scaleVector[2];
PointCloud.Rotate(pc, R);
}
public PointCloud AlignPointClouds_OneVector(PointCloud pointCloudSource, PointCloud pointCloudTarget, int vectorNumberSource, int vectorNumberTarget)
{
//-------------------
pcSourceCentered = CalculatePCA_Internal(pointCloudSource);
//second object:
//-----------
pcTargetCentered = CalculatePCA_Internal(pointCloudTarget);
//Vector3 v = TargetPCVectors[vectorNumberTarget];
//v.X = -v.X;
//v.Y = -v.Y;
//v.Z = -v.Z;
//TargetPCVectors[vectorNumberTarget] = v;
Matrix3 R = new Matrix3();
//R = R.RotationOneVectorToAnother(TargetPCVectors[vectorNumber], SourcePCVectors[vectorNumber]);
R = R.RotationOneVectorToAnother(pointCloudSource.PCAAxes[vectorNumberSource].Vector, pointCloudTarget.PCAAxes[vectorNumberTarget].Vector);
//R.CheckRotationMatrix();
//
//test:
//Vector3 testV = R.MultiplyVector(sourceV);
PointCloud pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.SubtractVectorRef(pointCloudResult, pointCloudSource.CentroidVector);
PointCloud.Rotate(pointCloudResult, R);
PointCloud.AddVectorToAll(pointCloudResult, pointCloudTarget.CentroidVector);
pcResultCentered = CalculatePCA_Internal(pointCloudResult);
MeanDistance = PointCloud.MeanDistance(pointCloudResult, pointCloudTarget);
System.Diagnostics.Debug.WriteLine("-->> PCA (V) - Mean Distance : " + MeanDistance.ToString("0.000000"));
return(pointCloudResult);
}
////}
///// <summary>
///// PCA are center of mass - centered
///// </summary>
///// <param name="pointCloud"></param>
///// <param name="myCentroid"></param>
//private void AssignPCVectors(PointCloud pointCloud, PointCloud mypointCloudSourceCentered)
//{
// pointCloud.CentroidPCA = Centroid;
// pointCloud.PCAAxes = new PointCloud();
// for (int i = 0; i < 3; i++)
// {
// Vector3 v = VT.ExtractColumn(i);
// //v = v * Math.Sqrt(EV[i]);
// v = v * EV[i];
// float d = v.Length;
// Vector3 ve = new Vector3(i, v);
// pointCloud.PCAAxes.Add(ve);
// }
// mypointCloudSourceCentered.PCAAxes = pointCloud.PCAAxes;
////}
////}
////}
///// <summary>
///// PCA are center of mass - centered
///// </summary>
///// <param name="pointCloud"></param>
///// <param name="myCentroid"></param>
//private void AssignPCVectors(PointCloud pointCloud, PointCloud mypointCloudSourceCentered)
//{
// pointCloud.CentroidPCA = Centroid;
// pointCloud.PCAAxes = new PointCloud();
// for (int i = 0; i < 3; i++)
// {
// Vector3 v = VT_NotNormalized.ExtractColumn(i);
// //v = v * Math.Sqrt(EV[i]);
// v = v * EV_NotNormalized[i];
// float d = v.Length;
// Vector3 ve = new Vector3(i, v);
// pointCloud.PCAAxes.Add(ve);
// }
// mypointCloudSourceCentered.PCAAxes = pointCloud.PCAAxes;
//}
private static PointCloud CalculateResults(Matrix3 Ub, Matrix3 Ua, PointCloud pointCloudSource, Vector3 centroidB, Vector3 centroidA)
{
Matrix3 R;
Matrix3.Mult(ref Ub, ref Ua, out R);
PointCloud pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.Rotate(pointCloudResult, R);
Vector3 t = centroidB - R.MultiplyVector(centroidA);
//Vertices.AddVector(pointCloudResult, t);
return(pointCloudResult);
}
public static PointCloud RotateToOriginAxes(PointCloud mypointCloudSource)
{
PCA pca = new PCA();
pca.PCA_OfPointCloud(mypointCloudSource);
Matrix3 R = new Matrix3();
PointCloud mypointCloudResult = PointCloud.CloneAll(mypointCloudSource);
R = R.Rotation_ToOriginAxes(mypointCloudResult.PCAAxes);
PointCloud.Rotate(mypointCloudResult, R);
pca.PCA_OfPointCloud(mypointCloudResult);
mypointCloudResult.Path = mypointCloudSource.Path;
mypointCloudResult.Name = mypointCloudSource.Name;
return(mypointCloudResult);
}
public PointCloud AlignToCenter(PointCloud pointCloudSource)
{
pcSourceCentered = CalculatePCA_Internal(pointCloudSource);
Matrix3 R = new Matrix3();
R = R.RotationChangeBasis(pointCloudSource.PCAAxes.ListVectors);
PointCloud pointCloudResult = PointCloud.CloneAll(pointCloudSource);
PointCloud.SubtractVectorRef(pointCloudResult, pointCloudSource.CentroidVector);
PointCloud.Rotate(pointCloudResult, R);
pcResultCentered = CalculatePCA_Internal(pointCloudResult);
return(pointCloudResult);
}
