public void Reset()
{
instance = this;
this.ICPSettings.ICPVersion = ICP_VersionUsed.Scaling_Umeyama;
this.ICPSettings.SimulatedAnnealing = false;
this.ICPSettings.Normal_RemovePoints = false;
this.ICPSettings.Normal_SortPoints = false;
this.ICPSettings.FixedTestPoints = false;
this.ICPSettings.MaximumNumberOfIterations = 100;
this.ICPSettings.ResetVertexToOrigin = true;
this.ICPSettings.DistanceOptimization = false;
this.ICPSettings.MaximumMeanDistance = 1.0e-3f;
}
public void ICP_OnCurrentModels()
{
//convert Points
if (this.OpenGLControl.GLrender.Models3D.Count > 1)
{
List <Vertex> myVertexReference = this.OpenGLControl.GLrender.Models3D[0].VertexList;
List <Vertex> myVertexToBeMatched = this.OpenGLControl.GLrender.Models3D[1].VertexList;
ResetModelsToOrigin();
IterativeClosestPointTransform icpSharp = new IterativeClosestPointTransform();
List <Vertex> myVertexTransformed = icpSharp.PerformICP(myVertexReference, myVertexToBeMatched);
if (myVertexTransformed != null)
{
//show result
Vertices.SetColorOfListTo(myVertexTransformed, 1, 0, 0, 1);
this.OpenGLControl.ShowPointCloud("IPC Solution", myVertexTransformed);
}
}
}
