public void Translation_Horn()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
meanDistance = ICPTestData.Test1_Translation(ref verticesTarget, ref verticesSource, ref verticesResult);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Scale_AllAxes_Du()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Du;
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = true;
meanDistance = ICPTestData.Test3_Scale(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Assert.IsTrue(this.threshold > meanDistance);
}
public void RotationXYZ_Zinsser()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = true;
meanDistance = ICPTestData.Test2_RotationXYZ(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Assert.IsTrue(this.threshold > meanDistance);
}
public void Cube_RotateTranslate_ScaleUniform_Du()
{
this.icp.Settings_Reset_GeometricObject();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Du;
meanDistance = ICPTestData.Test5_CubeRotateTranslate_ScaleUniform(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Assert.IsTrue(this.threshold > meanDistance);
}
public void Prespective_Zinsser()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = true;
meanDistance = ICPTestData.Test9_Inhomogenous(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
this.ShowResultsInWindow_CubeLines(false);
CheckResult_MeanDistance(1e-3f);
}
public void Scale_Umeyama()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Umeyama;
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = true;
meanDistance = ICPTestData.Test3_Scale(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Performance_Stop("Scale_Umeyama");//7 miliseconds on i3_2121 (3.3 GHz)
Assert.IsTrue(this.threshold > meanDistance);
}
public void Scale_AllAxes_Du()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Du;
IterativeClosestPointTransform.FixedTestPoints = true;
meanDistance = ICPTestData.Test3_Scale(ref verticesTarget, ref verticesSource, ref verticesResult);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Zinsser()
{
this.icp.Reset_RealData();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
meanDistance = ICPTestData.Test7_Face_KnownTransformation_15000(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(false);
CheckResult_MeanDistance(1e-7f);
}
public void RotationXYZ_Horn()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = true;
meanDistance = ICPTestData.Test2_RotationXYZ(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
//this.ShowResultsInWindowIncludingLines(false);
Assert.IsTrue(this.threshold > meanDistance);
}
public void RotationXYZ_Zinsser()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
IterativeClosestPointTransform.FixedTestPoints = true;
meanDistance = ICPTestData.Test2_RotationXYZ(ref verticesTarget, ref verticesSource, ref verticesResult);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Scale_Horn()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.FixedTestPoints = true;
meanDistance = ICPTestData.Test3_Scale(ref verticesTarget, ref verticesSource, ref verticesResult);
//this.ShowResultsInWindowIncludingLines(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Translation_Zinsser()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
meanDistance = ICPTestData.Test1_Translation(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
if (!(this.threshold > meanDistance))
{
System.Diagnostics.Debug.WriteLine("Translation Zinsser failed");
Assert.Fail("Translation Zinsser failed");
}
}
public void Zinsser()
{
Reset();
SettingsRealData();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
meanDistance = ICPTestData.Test7_Face_KnownTransformation(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(false);
CheckResult_MeanDistance(1e-10);
}
public void Outliers_CubeTranslate_NotGood()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.Instance.ICPSettings.MaximumNumberOfIterations = 10;
meanDistance = ICPTestData.Test8_CubeOutliers_Translate(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
this.ShowResultsInWindow_CubeLines(false);
Assert.IsTrue(1e-3f > PointCloud.MeanDistance(pointCloudTarget, pointCloudResult));
}
public void Prespective_Zinsser()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
IterativeClosestPointTransform.FixedTestPoints = true;
meanDistance = ICPTestData.Test9_Inhomogenous(ref verticesTarget, ref verticesSource, ref verticesResult);
this.ShowResultsInWindow_CubeLines(false);
CheckResult_MeanDistance(1e-3);
}
public void Umeyama_New()
{
this.icp.Reset_RealData();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Umeyama;
meanDistance = ICPTestData.Test6_Bunny_ExpectedError(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(true);
CheckResult_MeanDistance(1e-3f);
}
public void Cube_RotateScaleTranslate_KDTreeBruteForce()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Du;
this.icp.ICPSettings.ResetVector3ToOrigin = true;
meanDistance = ICPTestData.Test5_CubeRotateTranslate_ScaleUniform(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
this.ShowResultsInWindow_CubeLines(false);
//
Assert.IsTrue(this.threshold > meanDistance);
}
public void Translation_Zinsser()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
meanDistance = ICPTestData.Test1_Translation(ref verticesTarget, ref verticesSource, ref verticesResult);
if (!ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10))
{
System.Diagnostics.Debug.WriteLine("Translation Zinsser failed");
Assert.Fail("Translation Zinsser failed");
}
}
public void Umeyama()
{
Reset();
SettingsRealData();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Umeyama;
meanDistance = ICPTestData.Test6_Bunny(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(true);
CheckResult_MeanDistance(1e-3);
}
public void Cube_ScaleInhomogenous_Horn()
{
this.icp.Settings_Reset_GeometricObject();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
meanDistance = ICPTestData.Test5_CubeScale_Inhomogenous(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
this.ShowResultsInWindow_CubeLines(true);
CheckResult_MeanDistance(this.threshold);
}
public void Translation_Umeyama()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Umeyama;
meanDistance = ICPTestData.Test1_Translation(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
//have to check why Umeyama is not exact to e-10 - perhaps because of diagonalization lib (for the scale factor)
if (!(this.threshold > meanDistance))
{
System.Diagnostics.Debug.WriteLine("Translation Umeyama failed");
Assert.Fail("Translation Umeyama failed");
}
}
public void Du()
{
this.icp.Reset_RealData();
IterativeClosestPointTransform.Instance.ICPSettings.MaximumNumberOfIterations = 100;
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Du;
meanDistance = ICPTestData.Test9_Face_Stitch(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(true);
Assert.IsTrue(1e-3f > PointCloud.MeanDistance(pointCloudTarget, pointCloudResult));
}
public void Face_NormalsCheck()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.Instance.ICPSettings.MaximumNumberOfIterations = 10;
this.icp.ICPSettings.Normal_RemovePoints = true;
meanDistance = ICPTestData.Test9_Face_Stitch(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(false);
Assert.IsTrue(1e-3f > PointCloud.MeanDistance(pointCloudTarget, pointCloudResult));
}
public void Translation_Umeyama()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Umeyama;
meanDistance = ICPTestData.Test1_Translation(ref verticesTarget, ref verticesSource, ref verticesResult);
//have to check why Umeyama is not exact to e-10 - perhaps because of diagonalization lib (for the scale factor)
if (!ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-5))
{
System.Diagnostics.Debug.WriteLine("Translation Umeyama failed");
Assert.Fail("Translation Umeyama failed");
}
}
public void Cube8_TranslateRotateShuffle()
{
this.icp.Settings_Reset_GeometricObject();
IterativeClosestPointTransform.Instance.ICPSettings.FixedTestPoints = false;
meanDistance = ICPTestData.Test10_Cube8pRotateTranslateShuffle(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult, cubeSizeX);
this.ShowResultsInWindow_Cube(true);
CheckResult_MeanDistance(1e-7f);
}
public void Cube_ScaleInhomogenous_Du()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Du;
IterativeClosestPointTransform.FixedTestPoints = true;
meanDistance = ICPTestData.Test5_CubeScale_Inhomogenous(ref verticesTarget, ref verticesSource, ref verticesResult);
this.ShowResultsInWindow_CubeLines(false);
//
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Cube_ScaleInhomogenous_Du()
{
this.icp.Settings_Reset_GeometricObject();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Du;
meanDistance = ICPTestData.Test5_CubeScale_Inhomogenous(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
this.ShowResultsInWindow_CubeLines(false);
//
Assert.IsTrue(this.threshold > meanDistance);
}
public void Outliers_CubeRotate()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.Instance.ICPSettings.MaximumNumberOfIterations = 10;
this.icp.ICPSettings.SimulatedAnnealing = true;
meanDistance = ICPTestData.Test8_CubeOutliers_Rotate(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(true);
Assert.IsTrue(2e-1f < PointCloud.MeanDistance(pointCloudTarget, pointCloudResult));
}
public void Translation_Horn_Old()
{
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Horn;
meanDistance = ICPTestData.Test1_Translation(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Assert.IsTrue(this.threshold > meanDistance);
TestForm fOTK = new TestForm();
fOTK.Show3PointClouds(pointCloudSource, pointCloudTarget, pointCloudResult, true);
fOTK.ShowDialog();
}
public void Umeyama_SA()
{
this.icp.Reset_RealData();
IterativeClosestPointTransform.Instance.ICPSettings.ICPVersion = ICP_VersionUsed.Umeyama;
IterativeClosestPointTransform.Instance.ICPSettings.SimulatedAnnealing = true;
meanDistance = ICPTestData.Test9_Face_Stitch(ref pointCloudTarget, ref pointCloudSource, ref pointCloudResult);
Show3PointCloudsInWindow(true);
Assert.IsTrue(1e-3f > PointCloud.MeanDistance(pointCloudTarget, pointCloudResult));
}
