/*
* Point cloud color:
* AntiqueWhite is ref
* YellowGreen is pending
* blue is established
*/
private void TransformPC(Point3DCollection source, Point3DCollection reference)
{
// As far as i know, source[i] maps to reference[i]
// compute initial transformation
//compute transformation from reference
_icpData = _icp.ComputeICP(
Parser3DPoint.FromPoint3DToDataPoints(source),
Parser3DPoint.FromPoint3DToDataPoints(reference),
_initialTransformation);
_icpData.transform = _initialTransformation;
var p = ICP.ApplyTransformation(_icpData.transform, Parser3DPoint.FromPoint3DToDataPoints(_displayPointCloud));
_displayPointCloud = Parser3DPoint.FromDataPointsToPoint3DCollection(p);
_renderer.CreatePointCloud(_displayPointCloud, Brushes.BlueViolet);
}
private void Init()
{
InitializeComponent();
Log.InitLog(textBox, label_Cycle);
// Initialize images
_processingStage = new ProcessingStage(label_Status,
new BitmapImage(new Uri("pack://application:,,,/3DReconstructionWPF;component/Assets/Images/icons8-crossmark.png")),
new BitmapImage(new Uri("pack://application:,,,/3DReconstructionWPF;component/Assets/Images/icons8-checkmark.png")),
image_trackedFeature, image_rgbColor, image_depth);
_renderer = new Renderer(group);
_pcv = new PointCloudView(_renderer);
_sensor = KinectSensor.GetDefault();
_initialTransformation = new pointmatcher.net.EuclideanTransform
{
translation = System.Numerics.Vector3.Zero,
rotation = System.Numerics.Quaternion.Normalize(System.Numerics.Quaternion.CreateFromRotationMatrix(new System.Numerics.Matrix4x4(
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
)))
};
_icpData = new ICP.ICPData(null, _initialTransformation);
_icp = new ICP();
label_Cycle.Content = "cycle: " + _cycleRuns;
if (_sensor != null)
{
if (_sensor.IsOpen && _sensor.IsAvailable)
{
Log.WriteLog("Kinect capture data available!");
}
}
// Init filters
FilterGroup.InitFilters();
}
