public static ICPSolution SetRandomIndices(int myNumberPoints, int maxNumber, List <ICPSolution> solutionList)
{
int i;
List <int> randomIndices;
try
{
//set trial points
for (i = 0; i < 1000; i++)
{
try
{
randomIndices = ICPSolution.GetRandomIndices(maxNumber, myNumberPoints);
if (ICPSolution.IndicesAreNew(randomIndices, solutionList))
{
ICPSolution res = new ICPSolution();
res.RandomIndices = randomIndices;
return(res);
}
}
catch (Exception err)
{
MessageBox.Show("Error in SetRandomIndices " + err.Message);
return(null);
}
}
// MessageBox.Show("SetRandomIndices: No indices could be found!!");
// 1000 trials
return(null);
}
catch (Exception err)
{
MessageBox.Show("Error in SetRandomIndices " + err.Message);
return(null);
}
}
private bool Helper_ICP_Iteration_SA(IList <Point3D> PT, IList <Point3D> PS, KDTreePoint3D kdTree, int keepOnlyPoints)
{
try
{
//first iteration
if (solutionList == null)
{
solutionList = new List <ICPSolution>();
if (NumberOfStartTrialPoints > PS.Count)
{
NumberOfStartTrialPoints = PS.Count;
}
if (NumberOfStartTrialPoints == PS.Count)
{
NumberOfStartTrialPoints = PS.Count * 80 / 100;
}
if (NumberOfStartTrialPoints < 3)
{
NumberOfStartTrialPoints = 3;
}
for (int i = 0; i < MaxNumberSolutions; i++)
{
ICPSolution myTrial = ICPSolution.SetRandomIndices(NumberOfStartTrialPoints, PS.Count, solutionList);
if (myTrial != null)
{
myTrial.PointsSource = ExtractPoints(PS, myTrial.RandomIndices);
solutionList.Add(myTrial);
}
}
////test....
////maxNumberSolutions = 1;
//ICPSolution myTrial1 = new ICPSolution();
//for (int i = 0; i < NumberPointsSolution; i++)
//{
// myTrial1.RandomIndices.Add(i);
//}
//myTrial1.PointsSource = RandomUtils.ExtractPoints(PS, myTrial1.RandomIndices);
//solutionList[0] = myTrial1;
}
for (int i = 0; i < solutionList.Count; i++)
{
IList <Point3D> transformedPoints = null;
ICPSolution myTrial = solutionList[i];
Helper_ICP_Iteration(ref myTrial.PointsTarget, ref myTrial.PointsSource, PT, PS, kdTree, keepOnlyPoints);
myTrial.Matrix = Matrix4d.Mult(myTrial.Matrix, this.Matrix);
myTrial.MeanDistanceSubset = this.MeanDistance;
myTrial.MeanDistance = TransformPoints(ref transformedPoints, PT, PS, myTrial.Matrix);
// solutionList[i] = myTrial;
}
if (solutionList.Count > 0)
{
solutionList.Sort(new ICPSolutionComparer());
RemoveSolutionIfMatrixContainsNaN(solutionList);
if (solutionList.Count == 0)
{
System.Windows.Forms.MessageBox.Show("No solution could be found !");
}
this.Matrix = solutionList[0].Matrix;
this.MeanDistance = solutionList[0].MeanDistance;
if (solutionList[0].MeanDistance < this.MaximumMeanDistance)
{
return(true);
}
}
}
catch (Exception err)
{
MessageBox.Show("Error in Helper_ICP_Iteration_SA: " + err.Message);
return(false);
}
return(false);
}