private void toolStripOutliersBatch_Click(object sender, EventArgs e)
{
string directory = GLSettings.Path + GLSettings.PathPointClouds + "\\Nick";
string pathResult = directory + "\\clean";
string[] files = IOUtils.FileNamesSorted(directory, "*.obj");
if (!System.IO.Directory.Exists(pathResult))
{
System.IO.Directory.CreateDirectory(pathResult);
}
for (int i = 0; i < files.Length; i++)
{
PointCloud pointCloudDirty = PointCloud.FromObjFile(files[i]);
int thresholdNeighboursCount = 10;
float thresholdDistance = 4e-4f;
PointCloud pcOutliers;
PointCloud pointCloudClean = OpenTKExtension.Outliers.ByStandardDeviation(pointCloudDirty, thresholdNeighboursCount, thresholdDistance, out pcOutliers);
// tweaks
//PointCloud pointCloudClean = tree.RemoveOutliersNeighbour(PointCloudDirty, thresholdDistance, thresholdNeighboursCount);
pointCloudClean.ToObjFile(pathResult + "\\CleanPointCloudSequence#" + i.ToString() + ".obj");
}
//testClouds_FirstIteration();
return;
}
private void toolStripLoadPointCloud_Click(object sender, EventArgs e)
{
string fileName = LoadFileDialog();
PointCloud pc = PointCloud.FromObjFile(fileName);
//PointCloud myPointCloud = new PointCloud(fileName);
pointCloudFirstAfterLoad = pc;
//ShowPointCloud(pointCloudFirstAfterLoad);
ShowPointCloud_ClearAllOthers(pointCloudFirstAfterLoad);
//ShowPointCloud(myPointCloud);
}
public void LoadPointCloudFromFile(string fileName, bool clearOthers)
{
PointCloud pc = PointCloud.FromObjFile(fileName);
if (clearOthers)
{
ShowPointCloud_ClearAllOthers(pc);
}
else
{
ShowPointCloud(pc);
}
}
private void testClouds()
{
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
pTarget = null;
for (int i = 0; i < 10; i++)
{
//first iteration
if (pTarget == null)
{
pTarget = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i).ToString() + ".obj");
}
pSource = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i + 1).ToString() + ".obj");
//------------------
//ICP
icp.Reset_RealData();
//icp.ICPSettings.ThresholdMergedPoints = 0f;
icp.ICPSettings.MaximumNumberOfIterations = 15;
pTarget = icp.PerformICP(pSource, this.pTarget);
System.Diagnostics.Debug.WriteLine("###### ICP for point cloud: " + pTarget.Name + " - points added: " + icp.PointsAdded.ToString());
// this.registrationMatrix = icp.Matrix;
// registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
GlobalVariables.ShowLastTimeSpan("--> Time for ICP ");
SaveResultCloudAndShow(pTarget);
}
