private void PerformTest(bool alsoBruteForce, bool taken)
{
System.Diagnostics.Debug.WriteLine("Number of points: " + pointCloudSource.Vectors.Length.ToString());
if (alsoBruteForce)
{
GlobalVariables.ResetTime();
//--------------------------
tree = new KDTreeBruteForce();
tree.TakenAlgorithm = taken;
tree.Build(pointCloudTarget);
GlobalVariables.ShowLastTimeSpan("Build BruteForce :");
tree.FindClosestPointCloud_NotParallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find BruteForce :");
tree.FindClosestPointCloud_Parallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find BruteForce Parallel :");
Assert.IsTrue(tree.MeanDistance == 0);
}
//--------------------------
GlobalVariables.ResetTime();
tree = new KDTreeJeremyC();
tree.TakenAlgorithm = taken;
tree.Build(pointCloudTarget);
GlobalVariables.ShowLastTimeSpan("Build Jerome :");
tree.FindClosestPointCloud_NotParallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find Jerome :");
tree.FindClosestPointCloud_Parallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find Jerome Parallel :");
Assert.IsTrue(tree.MeanDistance == 0);
//--------------------------
GlobalVariables.ResetTime();
tree = new KDTreeKennell();
tree.TakenAlgorithm = taken;
tree.Build(pointCloudTarget);
GlobalVariables.ShowLastTimeSpan("Build Kennell :");
tree.FindClosestPointCloud_NotParallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find Kennell :");
tree.FindClosestPointCloud_Parallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find Kennell Parallel :");
Assert.IsTrue(tree.MeanDistance == 0);
//--------------------------
GlobalVariables.ResetTime();
tree = new KDTreeEricRegina();
tree.TakenAlgorithm = taken;
tree.Build(pointCloudTarget);
GlobalVariables.ShowLastTimeSpan("Build EricRegina :");
tree.FindClosestPointCloud_NotParallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find EricRegina :");
tree.FindClosestPointCloud_Parallel(pointCloudSource);
GlobalVariables.ShowLastTimeSpan("--> Find EricRegina :");
Assert.IsTrue(tree.MeanDistance == 0);
}
public IterativeClosestPointTransform()//:base(PointerUtils.GetIntPtr(new float[3]), true, true)
{
KDTree = new KDTreeKennell();
//KDTree = new KDTreeJeremyC();
//KDTree = new KDTreeBruteForce();
Reset();
this.PSource = null;
this.PTarget = null;
this.LandmarkTransform = new LandmarkTransform();
this.NumberOfIterations = 0;
}
private void PrepareTargetTree(PointCloud pointCloudTarget)
{
//second object:
//-----------
pcTargetCentered = CalculatePCA_Internal(pointCloudTarget);
//kdtree = new KDTreeJeremyC();
KDTree = new KDTreeKennell();
//kdtree.Build(pointCloudTarget);
KDTree.Build(pcTargetCentered);
pcResult = null;
pcTreeResult = null;
}
/// <summary>
/// mergedPoints
/// </summary>
/// <param name="pointsTransformed"></param>
/// <param name="pointsTarget"></param>
/// <param name="kdTree"></param>
/// <param name="meanDistance"></param>
/// <returns></returns>
public static PointCloud CalculateMergedPoints(PointCloud pointsTransformed, PointCloud pointsTarget, IKDTree kdTree, float threshold, out int pointsAdded, bool changeColorsOfMergedPoints)
{
if (pointsTransformed.Colors == null || pointsTransformed.Colors.Length != pointsTransformed.Vectors.Length)
{
pointsTransformed.Colors = new Vector3[pointsTransformed.Vectors.Length];
}
if (pointsTarget.Colors == null || pointsTarget.Colors.Length != pointsTarget.Vectors.Length)
{
pointsTarget.Colors = new Vector3[pointsTarget.Vectors.Length];
}
//search in tree
// PointCloud resultKDTree = kdTree.FindClosestPointCloud_Parallel(result);
KDTreeKennell kdTreeKennell = kdTree as KDTreeKennell;
PointCloud pcToAdd = kdTreeKennell.RemoveDuplicates(pointsTransformed, threshold);
pointsAdded = pcToAdd.Vectors.Length;
//System.Diagnostics.Debug.WriteLine("target points added : " + pcToAdd.Vectors.Length.ToString() + " - outof " + result.Vectors.Length.ToString());
if (changeColorsOfMergedPoints)
{
pcToAdd.SetColor(new Vector3(0, 1, 1));
}
List <Vector3> listV = pointsTarget.ListVectors;
List <Vector3> listC = pointsTarget.ListColors;
listV.AddRange(pcToAdd.ListVectors);
listC.AddRange(pcToAdd.ListColors);
PointCloud pMerged = new PointCloud(listV, listC, null, null, null, null);
return(pMerged);
}
public PCA()
{
KDTree = new KDTreeKennell();
}
public KDTreeBaseTest()
{
tree = new KDTreeJeremyC();
}
