//private static List<Vertex> verticesTarget;
//private static List<Vertex> verticesSource;
// private static List<Vertex> vectorsResult;
public static double Test1_Translation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateSomePoints();
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 10, 3, 8);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeTranslation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, -300, 0);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeRotateTranslate_ScaleInhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, 0, 149);
VertexUtils.ScaleByVector(myVerticesSource, new Vertex(1, 2, 3));
Matrix3d R = new Matrix3d();
R = R.RotateSome();
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void TransformPointCloud_SaveObjFile()
{
//open a file
DepthMetaData DepthMetaData = new DepthMetaData();
byte[] colorInfo = null;
DepthMetaData.ReadDepthWithColor_OBJ(path, "KinectFace1.obj", ref DepthMetaData.FrameData, ref colorInfo);
List <Vector3d> myVectors = Vertices.ConvertToVector3DList_FromArray(DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <float[]> myColorsFloats = PointCloudUtils.CreateColorInfo(colorInfo, DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <Vertex> myVertexList = Model3D.CreateVertexList(myVectors, myColorsFloats);
VertexUtils.ScaleByFactor(myVertexList, 0.9);
VertexUtils.RotateVertices30Degrees(myVertexList);
VertexUtils.TranslateVertices(myVertexList, 10, 3, 5);
Model3D.Save_ListVertices_Obj(myVertexList, path, "transformed.obj");
}
public static double Test7_Face_KnownTransformation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model3D model3DTarget = new Model3D(path + "\\KinectFace1.obj");
myVerticesTarget = model3DTarget.VertexList;
Vertices.GetVertexMax(myVerticesTarget);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByFactor(myVerticesSource, 0.9);
Matrix3d R = new Matrix3d();
R = R.Rotation60Degrees();
VertexUtils.RotateVertices(myVerticesSource, R);
VertexUtils.TranslateVertices(myVerticesSource, 0.3, 0.5, -0.4);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}