public static void RotateVertices(List <Vertex> vertexList, Matrix3d R)
{
List <Vector3d> listVectors = Vertices.ConvertToVector3dList(vertexList);
MatrixUtilsOpenTK.RotateVectors(listVectors, R);
Vertices.AssignNewVectorList(vertexList, listVectors);
}
public static void ScaleByVector(List <Vertex> vectorlList, Vertex v)
{
Matrix3d R = Matrix3d.Identity;
R[0, 0] = v.Vector.X;
R[1, 1] = v.Vector.Y;
R[2, 2] = v.Vector.Z;
MatrixUtilsOpenTK.RotateVertices(vectorlList, R);
}
public static void ScaleByFactor(List <Vertex> vectorlList, double scale)
{
Vector3d scaleVector = new Vector3d(scale, scale, scale);
Matrix3d R = Matrix3d.Identity;
R[0, 0] = scaleVector[0];
R[1, 1] = scaleVector[1];
R[2, 2] = scaleVector[2];
MatrixUtilsOpenTK.RotateVertices(vectorlList, R);
}
public static void RotateVertices30Degrees(List <Vertex> vectorlList)
{
Matrix3d R = Matrix3d.Identity;
//rotation 30 degrees
R[0, 0] = 1F;
R[1, 1] = R[2, 2] = 0.86603F;
R[1, 2] = -0.5F;
R[2, 1] = 0.5F;
MatrixUtilsOpenTK.RotateVertices(vectorlList, R);
}
public static Matrix3d CalculateCorrelationMatrix(List <Vector3d> b, List <Vector3d> a)
{
//consists of elementx
//axbx axby axbz
//aybx ayby aybz
//azbx azby azbz
Matrix3d H = new Matrix3d();
for (int i = 0; i < b.Count; i++)
{
//H[0, 0] += b[i].X * a[i].X;
//H[1, 0] += b[i].X * a[i].Y;
//H[2, 0] += b[i].X * a[i].Z;
//H[0, 1] += b[i].Y * a[i].X;
//H[1, 1] += b[i].Y * a[i].Y;
//H[2, 1] += b[i].Y * a[i].Z;
//H[0, 2] += b[i].Z * a[i].X;
//H[1, 2] += b[i].Z * a[i].Y;
//H[2, 2] += b[i].Z * a[i].Z;
H[0, 0] += b[i].X * a[i].X;
H[0, 1] += b[i].X * a[i].Y;
H[0, 2] += b[i].X * a[i].Z;
H[1, 0] += b[i].Y * a[i].X;
H[1, 1] += b[i].Y * a[i].Y;
H[1, 2] += b[i].Y * a[i].Z;
H[2, 0] += b[i].Z * a[i].X;
H[2, 1] += b[i].Z * a[i].Y;
H[2, 2] += b[i].Z * a[i].Z;
}
H = MatrixUtilsOpenTK.MultiplyScalar3D(H, 1.0D / b.Count);
return(H);
}