private static ICPSolution IterateStartPoints(PointCloud pointsSource, PointCloud pointsTarget, int myNumberPoints, LandmarkTransform myLandmarkTransform, int maxNumberOfIterations)
{
int maxIterationPoints = pointsSource.Count;
int currentIteration = 0;
try
{
if (myNumberPoints > pointsSource.Count)
{
myNumberPoints = pointsSource.Count;
}
List <ICPSolution> solutionList = new List <ICPSolution>();
for (currentIteration = 0; currentIteration < maxNumberOfIterations; currentIteration++)
{
ICPSolution res = ICPSolution.SetRandomIndices(myNumberPoints, maxIterationPoints, solutionList);
res.Matrix = TryoutPoints(pointsTarget, pointsSource, res, myLandmarkTransform);//, accumulate);
res.PointsTransformed = MathUtilsVTK.TransformPoints(res.PointsSource, res.Matrix);
res.MeanDistance = PointCloud.MeanDistance(res.PointsTarget, res.PointsTransformed);
//res.MeanDistance = totaldist / Convert.ToSingle(res.PointsSource.Count);
solutionList.Add(res);
}
if (solutionList.Count > 0)
{
solutionList.Sort(new ICPSolutionComparer());
RemoveSolutionIfMatrixContainsNaN(solutionList);
if (solutionList.Count == 0)
{
System.Windows.Forms.MessageBox.Show("No start solution could be found !");
}
Debug.WriteLine("Solutions found after: " + currentIteration.ToString() + " iterations, number of solution " + solutionList.Count.ToString());
if (solutionList.Count > 0)
{
ICPSolution result = solutionList[0];
//write solution to debug ouput
//System.Diagnostics.Debug.WriteLine("Solution of start sequence is: ");
DebugWriteUtils.WriteTestOutputVector3("Solution of start sequence", result.Matrix, result.PointsSource, result.PointsTransformed, result.PointsTarget);
return(result);
}
}
return(null);
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("Error in IterateStartPoints of ICP at: " + currentIteration.ToString() + " : " + err.Message);
return(null);
}
}
private PointCloud ICPOnPoints_WithSubset(PointCloud mypointCloudTarget, PointCloud myPCLToBeMatched, PointCloud myPointsTargetSubset, PointCloud mypointsSourceSubset)
{
List <Vector3> myVectorsTransformed = null;
PointCloud myPCLTransformed = null;
try
{
Matrix4 m;
PerformICP(mypointsSourceSubset, myPointsTargetSubset);
myVectorsTransformed = PointsTransformed.ListVectors;
m = Matrix;
//DebugWriteUtils.WriteTestOutput(m, mypointsSourceSubset, myPointsTransformed, myPointsTargetSubset);
//extend points:
//myPointsTransformed = icpSharp.TransformPointsToPointsData(mypointsSourceSubset, m);
//-----------------------------
//DebugWriteUtils.WriteTestOutput(m, mypointsSourceSubset, myPointsTransformed, myPointsTargetSubset);
//now with all other points as well...
myVectorsTransformed = new List <Vector3>();
myPCLTransformed = m.TransformPoints(myPCLToBeMatched);
//write all results in debug output
DebugWriteUtils.WriteTestOutputVector3("Soluation of Points With Subset", m, myPCLToBeMatched, myPCLTransformed, mypointCloudTarget);
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("Error in ICP : " + err.Message);
return(null);
}
//for output:
return(myPCLTransformed);
}
public PointCloud PerformICP_Stitching()
{
int iPoint = 0;
try
{
PointCloud pointsTarget = null;
PointCloud pointsSource = null;
ICPSolution res = CalculateStartSolution(ref pointsSource, ref pointsTarget, ICPSettings.NumberOfStartTrialPoints, this.LandmarkTransform, this.PTarget, this.PSource, ICPSettings.MaximumNumberOfIterations);
if (res == null)
{
return(null);
}
Matrix4 myMatrix = res.Matrix;
float oldMeanDistance = 0;
//now try all points and check if outlier
for (iPoint = (pointsTarget.Count - 1); iPoint >= 0; iPoint--)
{
float distanceOfNewPoint = CheckNewPointDistance(iPoint, myMatrix, pointsTarget, pointsSource);
////experimental
////--compare this distance to:
//pointsTargetTrial.Add[pointsTargetTrial.Count, p1[0], p1[1], p1[2]);
//pointsSourceTrial.Add[pointsSourceTrial.Count, p2[0], p2[1], p2[2]);
//PointCloud tempPointRotateAll = TransformPoints(pointsSourceTrial, myMatrix, pointsSourceTrial.Count);
//dist = CalculateTotalDistance(pointsTargetTrial, tempPointRotateAll);
//DebugWriteUtils.WriteTestOutput(myMatrix, pointsSourceTrial, tempPointRotateAll, pointsTargetTrial, pointsTargetTrial.Count);
Debug.WriteLine("------>ICP Iteration Trial: " + iPoint.ToString() + " : Mean Distance: " + distanceOfNewPoint.ToString());
if (Math.Abs(distanceOfNewPoint - res.MeanDistance) < ICPSettings.ThresholdOutlier)
{
PointCloud pointsTargetTrial = PointCloud.CloneAll(res.PointsTarget);
PointCloud pointsSourceTrial = PointCloud.CloneAll(res.PointsSource);
myMatrix = TryoutNewPoint(iPoint, pointsTarget, pointsSource, pointsTargetTrial, pointsSourceTrial, this.LandmarkTransform);
PointCloud myPointsTransformed = MathUtilsVTK.TransformPoints(pointsSourceTrial, myMatrix);
this.MeanDistance = PointCloud.MeanDistance(pointsTargetTrial, myPointsTransformed);
// this.MeanDistance = totaldist / Convert.ToSingle(pointsTargetTrial.Count);
//DebugWriteUtils.WriteTestOutputVector3("Iteration " + iPoint.ToString(), myMatrix, pointsSourceTrial, myPointsTransformed, pointsTargetTrial);
//could also remove this check...
if (Math.Abs(oldMeanDistance - this.MeanDistance) < ICPSettings.ThresholdOutlier)
{
res.PointsTarget = pointsTargetTrial;
res.PointsSource = pointsSourceTrial;
res.Matrix = myMatrix;
res.PointsTransformed = myPointsTransformed;
oldMeanDistance = this.MeanDistance;
//Debug.WriteLine("************* Point OK : ");
DebugWriteUtils.WriteTestOutputVector3("************* Point OK :", myMatrix, res.PointsSource, myPointsTransformed, res.PointsTarget);
}
//remove point from point list
pointsTarget.RemoveAt(iPoint);
pointsSource.RemoveAt(iPoint);
}
}
this.Matrix = res.Matrix;
//System.Diagnostics.Debug.WriteLine("Solution of ICP is : ");
DebugWriteUtils.WriteTestOutputVector3("Solution of ICP", Matrix, res.PointsSource, res.PointsTransformed, res.PointsTarget);
pointsTransformed = res.PointsTransformed;
return(pointsTransformed);
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("Error in Update ICP at point: " + iPoint.ToString() + " : " + err.Message);
return(null);
}
//Matrix4 newMatrix = accumulate.GetMatrix();
//this.Matrix = newMatrix;
}
