public void PCA_Axes()
{
//this.pointCloudSource = ExamplePointClouds.CreateCube_RegularGrid_Empty(1);
this.pointCloudSource = PointCloud.CreateCube_Corners_CenteredAt0(cubeSizeX);
pointCloudSource.ResizeVerticesTo1();
pca.PCA_OfPointCloud(pointCloudSource);
//-----------Show in Window
if (UIMode)
{
//
//ShowResultsInWindow_Cube(true);
//-----------Show in Window
this.ShowResultsInWindow_CubeNew(true, true);
}
expectedResultCloud.AddVector(new Vector3(1, 0, 0));
expectedResultCloud.AddVector(new Vector3(0, 1, 0));
expectedResultCloud.AddVector(new Vector3(0, 0, 1));
Assert.IsTrue(1e-3f > PointCloud.MeanDistance(expectedResultCloud, pointCloudSource.PCAAxesNormalized));
}
public static float Test2_Identity(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = Vertices.CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_CubeScale_Inhomogenous(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ScaleByVector(mypointCloudSource, new Vector3(1, 2, 3));
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_Cube8Shuffle(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(cubeSize);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ShuffleTest(mypointCloudSource);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test8_CubeOutliers_Translate(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(20);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.Translate(mypointCloudSource, 0, -300, 0);
PointCloud.CreateOutliers(mypointCloudSource, 5);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test3_Scale(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
PointCloud.ScaleByFactor(mypointCloudSource, 0.2f);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void Cube_Delaunay_RandomPoints()
{
pointCloudSource = PointCloud.CreateCube_Corners_CenteredAt0(2);
PointCloud.SetColorOfListTo(pointCloudSource, Color.Red);
List <Vector3> myListVectors = pointCloudSource.ListVectors;
DelaunayTri delaunay = new DelaunayTri(myListVectors);
ShowPointCloud(pointCloudSource);
}
public void CubeTranslated()
{
//-------------------
pointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(1);
pointCloudSource = pointCloudTarget.Clone();
this.pointCloudSource.Translate(2, 0, 0);
this.pointCloudResult = tree.BuildAndFindClosestPoints(pointCloudSource, pointCloudTarget, false);
GlobalVariables.ShowLastTimeSpan("Search ");
Assert.IsTrue(tree.MeanDistance <= 1.5f);
}
public void Cube_ConvexHull()
{
pointCloudSource = PointCloud.CreateCube_Corners_CenteredAt0(0.1f);
PointCloud.SetColorOfListTo(pointCloudSource, Color.Red);
List <Vector3> myListVectors = pointCloudSource.ListVectors;
ConvexHull3D convHull = new ConvexHull3D(myListVectors);
ShowPointCloud(pointCloudSource);
System.Diagnostics.Debug.WriteLine("Number of faces: " + convHull.Faces.ListFaces.Count.ToString());
}
public static float Test2_RotationX30Degrees(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
//mypointCloudTarget = Vertices.CreateSomePoints();
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = Matrix3.CreateRotationX(30);
PointCloud.Rotate(mypointCloudSource, R);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_CubeRotate(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(50);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
Matrix3 R = new Matrix3();
R = R.RotationXYZDegrees(90, 124, -274);
PointCloud.Rotate(mypointCloudSource, R);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static float Test5_Cube8TranslateRotateShuffleNew(ref PointCloud mypointCloudTarget, ref PointCloud mypointCloudSource, ref PointCloud mypointCloudResult, float cubeSize)
{
mypointCloudTarget = PointCloud.CreateCube_Corners_CenteredAt0(cubeSize);
mypointCloudSource = PointCloud.CloneAll(mypointCloudTarget);
//PointCloud3D myPointCloud = ExamplePointClouds.Cuboid("Cuboid", 20f, 40f, 100, System.Drawing.Color.White, null);
Matrix3 R = CreateAndPrintMatrix(65, -123, 35);
PointCloud.Rotate(mypointCloudSource, R);
PointCloud.Translate(mypointCloudSource, cubeSize * 1.2f, -cubeSize * 2.5f, cubeSize * 2);
PointCloud.ShuffleTest(mypointCloudSource);
mypointCloudResult = IterativeClosestPointTransform.Instance.PerformICP(mypointCloudSource, mypointCloudTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
