public static double Test8_CubeOutliers_Rotate(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
//myPCLTarget = Vertices.CreateCube_Corners(50);
Model myModel = Example3DModels.Cuboid("Cuboid", 20f, 40f, 100, System.Drawing.Color.White, null);
myPCLTarget = myModel.PointCloudVertices;
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
Matrix3d R = new Matrix3d();
R = R.RotationXYZDegrees(30, 30, 30);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.CreateOutliers(myPCLSource, 5);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
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 Test5_CuboidIdentity(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
double cubeSize = 1;
double cubeSizeY = 2;
int numberOfPoints = 3;
Model myModel = Example3DModels.Cuboid("Cuboid", cubeSize, cubeSizeY, numberOfPoints, System.Drawing.Color.White, null);
myPCLTarget = myModel.PointCloudVertices;
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
//Vertices.Translate(myPCLSource, 220, -300, 127);
//Vertices.ScaleByFactor(myPCLSource, 0.2);
//Matrix3d R = new Matrix3d();
//R = R.RotationXYZDegrees(90, 124, -274);
//Vertices.Rotate(myPCLSource, R);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
