public static double Test5_CubeScale_Inhomogenous(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ScaleByVertex(myPCLSource, new Vertex(1, 2, 3));
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test2_Identity(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
//myPCLTarget = Vertices.CreateSomePoints();
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeScale_Uniform(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ScaleByFactor(myPCLSource, 0.2f);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_Cube8Shuffle(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(cubeSize);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test8_CubeOutliers_Translate(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(20);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.Translate(myPCLSource, 0, -300, 0);
PointCloudVertices.CreateOutliers(myPCLSource, 5);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test2_RotationX30Degrees(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
//myPCLTarget = Vertices.CreateSomePoints();
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
Matrix3d R = Matrix3d.CreateRotationX(30);
PointCloudVertices.Rotate(myPCLSource, R);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeRotate(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
Matrix3d R = new Matrix3d();
R = R.RotationXYZDegrees(90, 124, -274);
PointCloudVertices.Rotate(myPCLSource, R);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_Cube8TranslateRotateShuffleNew(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(cubeSize);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
//Model3D myModel = Example3DModels.Cuboid("Cuboid", 20f, 40f, 100, System.Drawing.Color.White, null);
Matrix3d R = CreateAndPrintMatrix(65, -123, 35);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.Translate(myPCLSource, cubeSize * 1.2f, -cubeSize * 2.5f, cubeSize * 2);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}