public PointCloud AlignPointClouds_SVD_WithShuflleEffect(bool axesRotateEffect, PointCloud pointCloudSource, PointCloud pointCloudTarget)
{
try
{
if (pointCloudSource == null || pointCloudTarget == null || pointCloudSource.Count == 0 || pointCloudTarget.Count == 0)
{
System.Diagnostics.Debug.WriteLine("PCA - please check point clouds ");
return(null);
}
this.Matrix = Matrix4.Identity;
pcSourceCentered = CalculatePCA_Internal(pointCloudSource);
PrepareTargetTree(pointCloudTarget);
PointCloud myPointCloudIteration = PointCloud.CloneAll(pointCloudSource);
for (int i = 0; i < MaxmimumIterations; i++)
{
float meanDistance = SVD_Iteration(myPointCloudIteration);
System.Diagnostics.Debug.WriteLine("-->> Iteration " + i.ToString() + " : Mean Distance : " + meanDistance.ToString("G") + ": duration: " + GlobalVariables.TimeSpanString());
if (meanDistance < ThresholdConvergence)
{
break;
}
myPointCloudIteration = pcResultBest;
}
//final check:
pcResultCentered = CalculatePCA_Internal(pcResult);
//"Shuffle" effect - the target points are in other order after kdtree search:
//The mean distance calculated again, as check (was calculated before in the kdTree routine)
MeanDistance = PointCloud.MeanDistance(pcResultBest, pcTreeResult);
System.Diagnostics.Debug.WriteLine("-->> TO CHECK: PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
//MeanDistance = PointCloud.MeanDistance(pointCloudResult, pointCloudTarget);
//System.Diagnostics.Debug.WriteLine("-->> PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
this.Matrix = AdjustSourceTargetByTranslation(Matrix, pointCloudSource, pointCloudTarget);
pcResult = Matrix.TransformPoints(pointCloudSource);
pcResultCentered = CalculatePCA_Internal(pcResult);
//MeanDistance = PointCloud.MeanDistance(pointCloudResult, pointCloudTarget);
//System.Diagnostics.Debug.WriteLine("-->> PCA (SVD) - Final Mean Distance : " + MeanDistance.ToString("G"));
//for display later:
}
catch
{
System.Windows.Forms.MessageBox.Show("Error aligning point cloud");
}
return(pcResult);
}
public static void ShowLastTimeSpan(string name)
{
System.Diagnostics.Debug.WriteLine("--Duration for " + name + " : " + GlobalVariables.TimeSpanString());
}
