public static PointCloud GetRandomSample(PointCloud cloud, DistributedSamplingParameters samplingParams)
{
PointCloud sample = new PointCloud();
var indices = SelectPointIndices(cloud, samplingParams.NumberSamplePoints, samplingParams.MinimumAcceptableDistance);
foreach (var i in indices)
{
sample.Points.Add((Point3D)cloud.Points[i].Clone());
}
return(sample);
}
internal PointCloud Process(PointCloud cloud, PointCloud prevCloud, Matrix bestGuessTransformation)
{
if (cloud.Points.Count < 4)
{
return(cloud);
}
var T_0 = (DenseMatrix)bestGuessTransformation;
// sample point clouds
PointCloud sampleScene;
PointCloud model = prevCloud;
if (this.UseSampling)
{
var samplingParams = new DistributedSamplingParameters(
(int)(cloud.Points.Count * Registration.Settings.Default.SamplingProportion),
Registration.Settings.Default.MinimumSamplingDistance);
sampleScene = DistributedSampler.GetRandomSample(cloud, samplingParams);
}
else
{
sampleScene = cloud;
}
// run ICP on sampled data
var T_opt = CalculateTransformation(sampleScene, model, T_0);
// create deep clone of unoptimised cloud
var optCloud = (PointCloud)cloud.Clone();
// apply T_opt to entire cloud and return
for (int i = 0; i < optCloud.Points.Count; i++)
{
optCloud.Points[i].ApplyAffineTransformation(T_opt);
}
// return optimised cloud
return(optCloud);
}
