public static double Test7_Face_KnownTransformation_PCA_15000(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "Models\\UnitTests";
Model model3DTarget = new Model(path + "\\KinectFace_1_15000.obj");
myPCLTarget = model3DTarget.PointCloudVertices;
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.9f);
Matrix3d R = new Matrix3d();
R = R.RotationXYZDegrees(60, 60, 60);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.Translate(myPCLSource, 0.3f, 0.5f, -0.4f);
PCA pca = new PCA();
myPCLResult = pca.AlignPointClouds_SVD(myPCLSource, myPCLTarget);
myPCLSource = myPCLResult;
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeScale_Uniform(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.2f);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test10_Cube8pRotateTranslateScaleShuffle(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_RegularGrid_Empty(cubeSize, 1);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.Translate(myPCLSource, cubeSize * 1.2f, -cubeSize * 2.5f, cubeSize * 2);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.2f);
Matrix3d R = CreateAndPrintMatrix(65, -123, 35);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test6_Bunny(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model model3DTarget = new Model(path + "\\bunny.obj");
myPCLTarget = model3DTarget.PointCloudVertices;
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.Translate(myPCLSource, -0.15f, 0.05f, 0.02f);
Matrix3d R = new Matrix3d();
R = R.RotationXYZDegrees(30, 30, 30);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.8f);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
