public static Trans3 GetTransformNoScale(Vector from1, Vector from2, Vector from3, Vector to1, Vector to2, Vector to3)
{
//HTLib.DoubleVector3 lfrom1 = new HTLib.DoubleVector3(from1);
//HTLib.DoubleVector3 lfrom2 = new HTLib.DoubleVector3(from2);
//HTLib.DoubleVector3 lfrom3 = new HTLib.DoubleVector3(from3);
//HTLib.DoubleVector3 lto1 = new HTLib.DoubleVector3(to1);
//HTLib.DoubleVector3 lto2 = new HTLib.DoubleVector3(to2);
//HTLib.DoubleVector3 lto3 = new HTLib.DoubleVector3(to3);
//HTLib.Trans3 ltrans = HTLib.Trans3.GetTransformNoScale(lto1, lto2, lto3, lfrom1, lfrom2, lfrom3);
Trans3 ltrans;
{
Vector[] p = new Vector[] { to1, to2, to3 };
Vector[] x = new Vector[] { from1, from2, from3 };
Trans3 optTrans = ICP3.OptimalTransform(p, x);
ltrans = optTrans;
}
if (HDebug.IsDebuggerAttached)
{
var nto1 = ltrans.DoTransform(from1); var err1 = (nto1 - to1).Dist;
var nto2 = ltrans.DoTransform(from2); var err2 = (nto2 - to2).Dist;
var nto3 = ltrans.DoTransform(from3); var err3 = (nto3 - to3).Dist;
HDebug.AssertTolerance(0.00000001, err1, err2, err3);
}
return(ltrans);
}
public static Trans3 GetTrans(IList <Vector> source
, IList <Vector> target
)
{
Trans3 trans = ICP3.OptimalTransform(source, target);
return(trans);
}
public static Trans3 GetTrans(IList <Vector> source
, IList <Vector> target
, IList <double> weight
)
{
Trans3 trans = ICP3.OptimalTransformWeighted(source, target, weight);
return(trans);
}
