public IterativeClosestPointTransform()//:base(PointerUtils.GetIntPtr(new double[3]), true, true)
{
this.PSource = null;
this.PTarget = null;
this.LandmarkTransform = new LandmarkTransform();
this.MaximumMeanDistance = 1.0E-3;
this.NumberOfIterations = 0;
this.MeanDistance = 0.0;
}
/// <summary>
/// Finds the transform that should be applied to the model points to
/// reduce the sum of squard distances error.
/// </summary>
/// <returns>The transform.</returns>
/// <param name="correspondences">Correspondences.</param>
protected override Matrix4x4 FindTransformImplementation(CorrespondenceCollection correspondences)
{
List <Vector3d> modelPoints = new List <Vector3d>();
List <Vector3d> staticPoints = new List <Vector3d>();
CorrespondecesToVector3Lists(correspondences, ref modelPoints, ref staticPoints);
LandmarkTransform transformComputer = new LandmarkTransform(modelPoints, staticPoints);
bool computationSucceed = transformComputer.ComputeTransform();
if (!computationSucceed)
{
Debug.LogError(
"Could not compute the transform, should not happen, since " +
"ValidateCorrespondences should extract these issues");
}
return(transformComputer.TransformMatrix.ToUnityMatrix());
}
