private float ComputeErrorAfterTransform(CorrespondenceCollection correspondences,
Transform originalTransform, Transform currentTransform,
AggregationMethods.AggregationMethod aggregationMethod)
{
//Apply the newTransform to the model points
List <Point> modelPoints = TransformPoints(correspondences.ModelPoints, originalTransform, currentTransform);
//Normalize the points if required
Matrix4x4 normalizationMatrix = Matrix4x4.identity;
if (configuration.NormalizePoints)
{
normalizationMatrix = new PointNormalizer().ComputeNormalizationMatrix(modelPoints, correspondences.StaticPoints);
}
//Compute the correspondence errors
List <float> errors = ComputeCorrespondenceErrors(
normalizationMatrix,
modelPoints: modelPoints,
staticPoints: correspondences.StaticPoints
);
//Always use the mean of the errors for the termination error to
// ensure that the number of correspondences does not influence the error
float error = aggregationMethod(errors);
return(error);
}
public Configuration(
DistanceMetrics.Metric distanceMetric = null,
bool normalizePoints = true,
AggregationMethods.AggregationMethod aggregationMethod = null
)
{
DistanceMetric = distanceMetric ?? DistanceMetrics.SquaredEuclidean;
NormalizePoints = normalizePoints;
AggregationMethod = aggregationMethod ?? AggregationMethods.Sum;
}
private static string AggregationMethodToString(AggregationMethods.AggregationMethod aggregationMethod)
{
AggregationMethods.AggregationMethod mean = AggregationMethods.Mean;
if (aggregationMethod.Equals(mean))
{
return("mean");
}
AggregationMethods.AggregationMethod sum = AggregationMethods.Sum;
if (aggregationMethod.Equals(sum))
{
return("sum");
}
return("unkown aggregatin method");
}
