/// <summary>
/// Create common affine transformation.
/// </summary>
/// <param name="first">First affine transformation.</param>
/// <param name="second">Second affine transformation.</param>
/// <returns>Common affine transformation.</returns>
public static AffineCoorTransformator Create(AffineCoorTransformator first, AffineCoorTransformator second)
{
var res = new AffineCoorTransformator();
for (int i = 0; i < dim; ++i) {
for (int j = 0; j < dim; ++j) {
for (int k = 0; k < dim; ++k) {
res.matrix[i, j] += first.matrix[i, k] * second.matrix[k, j];
}
}
for (int k = 0; k < dim; ++k) {
res.matrix[i, dim] += first.matrix[i, k] * second.matrix[k, dim];
}
res.matrix[i, dim] += first.matrix[i, dim];
}
return res;
}
/// <summary>
/// Create common affine transformation.
/// </summary>
/// <param name="first">First affine transformation.</param>
/// <param name="second">Second affine transformation.</param>
/// <returns>Common affine transformation.</returns>
public static AffineCoorTransformator Create(AffineCoorTransformator first, AffineCoorTransformator second)
{
var res = new AffineCoorTransformator();
for (int i = 0; i < dim; ++i)
{
for (int j = 0; j < dim; ++j)
{
for (int k = 0; k < dim; ++k)
{
res.matrix[i, j] += first.matrix[i, k] * second.matrix[k, j];
}
}
for (int k = 0; k < dim; ++k)
{
res.matrix[i, dim] += first.matrix[i, k] * second.matrix[k, dim];
}
res.matrix[i, dim] += first.matrix[i, dim];
}
return(res);
}
private void MainForm_Click(object sender, EventArgs e)
{
Console.Clear();
#region Create source data.
for (int i = 0; i < pointsCountForFill; ++i)
{
this.sourcePoints[i] = new Point3D(
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)));
}
for (int i = pointsCountForFill; i < pointsCount; ++i)
{
this.sourcePoints[i] = new Point3D(
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)));
}
#endregion Create source data.
#region Create target data.
Matrix3D matrix3D = new Matrix3D();
matrix3D.Translate(new Vector3D(10, 50, 20));
matrix3D.RotateAt(new Quaternion(new Vector3D(2, 9, 1), 20), new Point3D(30, 30, 70));
matrix3D.Translate(new Vector3D(10, 50, 20));
matrix3D.RotateAt(new Quaternion(new Vector3D(1, 3, 5), -5), new Point3D(10, 0, 10));
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M11, matrix3D.M21, matrix3D.M31, matrix3D.OffsetX);
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M12, matrix3D.M22, matrix3D.M32, matrix3D.OffsetY);
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M13, matrix3D.M23, matrix3D.M33, matrix3D.OffsetZ);
for (int i = 0; i < pointsCount; ++i)
{
this.targetPoints[i] = matrix3D.Transform(this.sourcePoints[i]);
}
Point3D[] sourcePointsToFill = new Point3D[pointsCountForFill];
Point3D[] targetPointsToFill = new Point3D[pointsCountForFill];
for (int i = 0; i < pointsCountForFill; ++i)
{
sourcePointsToFill[i] = this.sourcePoints[i];
targetPointsToFill[i] = this.targetPoints[i];
}
AffineCoorTransformator ct = new AffineCoorTransformator();
ct.Fill(sourcePointsToFill, targetPointsToFill);
double[] matrix = ct.MatrixCopy;
int index = 0;
for (int i = 0; i < AffineCoorTransformator.dim; ++i)
{
for (int j = 0; j < AffineCoorTransformator.dimExt; ++j)
{
Console.Write("{0,30}", matrix[index]);
++index;
}
Console.WriteLine();
}
Console.WriteLine();
#endregion Create target data.
double[] error = new double[pointsCount];
double totalError = 0;
for (int i = 0; i < pointsCount; ++i)
{
this.targetPointsRes[i] = ct.Transform(this.sourcePoints[i]);
error[i] = (this.targetPointsRes[i] - this.targetPoints[i]).Length;
Console.WriteLine("Error {0}: {1}.", i, error[i]);
totalError += error[i];
}
double totalErrorMax = pointsCount * eps * Math.Sqrt(AffineCoorTransformator.dim);
Console.WriteLine();
Console.WriteLine("Max: {0}. Current: {1}. Middle: {2}", totalErrorMax, totalError, totalError / pointsCount);
Console.WriteLine();
this.Invalidate();
}
private void MainForm_Click(object sender, EventArgs e)
{
Console.Clear();
#region Create source data.
for (int i = 0; i < pointsCountForFill; ++i) {
this.sourcePoints[i] = new Point3D(
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)));
}
for (int i = pointsCountForFill; i < pointsCount; ++i) {
this.sourcePoints[i] = new Point3D(
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)),
this.rand.Next(Math.Max(this.ClientSize.Width, this.ClientSize.Height)));
}
#endregion Create source data.
#region Create target data.
Matrix3D matrix3D = new Matrix3D();
matrix3D.Translate(new Vector3D(10, 50, 20));
matrix3D.RotateAt(new Quaternion(new Vector3D(2, 9, 1), 20), new Point3D(30, 30, 70));
matrix3D.Translate(new Vector3D(10, 50, 20));
matrix3D.RotateAt(new Quaternion(new Vector3D(1, 3, 5), -5), new Point3D(10, 0, 10));
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M11, matrix3D.M21, matrix3D.M31, matrix3D.OffsetX);
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M12, matrix3D.M22, matrix3D.M32, matrix3D.OffsetY);
Console.WriteLine("{0,30}{1,30}{2,30}{3,30}", matrix3D.M13, matrix3D.M23, matrix3D.M33, matrix3D.OffsetZ);
for (int i = 0; i < pointsCount; ++i) {
this.targetPoints[i] = matrix3D.Transform(this.sourcePoints[i]);
}
Point3D[] sourcePointsToFill = new Point3D[pointsCountForFill];
Point3D[] targetPointsToFill = new Point3D[pointsCountForFill];
for (int i = 0; i < pointsCountForFill; ++i) {
sourcePointsToFill[i] = this.sourcePoints[i];
targetPointsToFill[i] = this.targetPoints[i];
}
AffineCoorTransformator ct = new AffineCoorTransformator();
ct.Fill(sourcePointsToFill, targetPointsToFill);
double[] matrix = ct.MatrixCopy;
int index = 0;
for (int i = 0; i < AffineCoorTransformator.dim; ++i) {
for (int j = 0; j < AffineCoorTransformator.dimExt; ++j) {
Console.Write("{0,30}", matrix[index]);
++index;
}
Console.WriteLine();
}
Console.WriteLine();
#endregion Create target data.
double[] error = new double[pointsCount];
double totalError = 0;
for (int i = 0; i < pointsCount; ++i) {
this.targetPointsRes[i] = ct.Transform(this.sourcePoints[i]);
error[i] = (this.targetPointsRes[i] - this.targetPoints[i]).Length;
Console.WriteLine("Error {0}: {1}.", i, error[i]);
totalError += error[i];
}
double totalErrorMax = pointsCount * eps * Math.Sqrt(AffineCoorTransformator.dim);
Console.WriteLine();
Console.WriteLine("Max: {0}. Current: {1}. Middle: {2}", totalErrorMax, totalError, totalError / pointsCount);
Console.WriteLine();
this.Invalidate();
}
