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()
{
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 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()
{
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 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 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 Du()
{
Reset();
SettingsRealData();
IterativeClosestPointTransform.MaximumNumberOfIterations = 100;
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Du;
meanDistance = ICPTestData.Test9_Face_Stitch(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(true);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Cube_RotateTranslate_ScaleUniform_Du()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Du;
IterativeClosestPointTransform.FixedTestPoints = true;
KDTreeVertex.KDTreeMode = KDTreeMode.Rednaxala;
meanDistance = ICPTestData.Test5_CubeRotateTranslate_ScaleUniform(ref verticesTarget, ref verticesSource, ref verticesResult);
this.ShowResultsInWindow_CubeLines(false);
//
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Outliers_CubeTranslate_NotGood()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.MaximumNumberOfIterations = 10;
meanDistance = ICPTestData.Test8_CubeOutliers_Translate(ref verticesTarget, ref verticesSource, ref verticesResult);
this.ShowResultsInWindow_CubeLines(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Cube_Rotate()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.FixedTestPoints = true;
IterativeClosestPointTransform.ResetVertexToOrigin = false;
meanDistance = ICPTestData.Test5_CubeRotate(ref verticesTarget, ref verticesSource, ref verticesResult);
this.ShowResultsInWindow_CubeLines(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
public void Face_NormalsCheck()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
KDTreeVertex.KDTreeMode = KDTreeMode.Rednaxala;
IterativeClosestPointTransform.MaximumNumberOfIterations = 10;
IterativeClosestPointTransform.NormalsCheck = true;
meanDistance = ICPTestData.Test9_Face_Stitch(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Translation_Horn_Old()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
meanDistance = ICPTestData.Test1_Translation(ref verticesTarget, ref verticesSource, ref verticesResult);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
ICPTestForm fOTK = new ICPTestForm();
fOTK.ShowICPResults(verticesTarget, verticesSource, verticesResult, true);
fOTK.ShowDialog();
}
public void Umeyama()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Umeyama;
KDTreeVertex.KDTreeMode = KDTreeMode.Rednaxala;
IterativeClosestPointTransform.MaximumNumberOfIterations = 50;
meanDistance = ICPTestData.Test7_Face_KnownTransformation(ref verticesTarget, ref verticesSource, ref verticesResult);
//ShowResultsInWindow(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Horn()
{
Reset();
SettingsRealData();
//as it does not converge anyway, keep the iteration number low
IterativeClosestPointTransform.MaximumNumberOfIterations = 10;
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
meanDistance = ICPTestData.Test9_Face_Stitch(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(true);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Outliers_CubeRotate()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.MaximumNumberOfIterations = 10;
IterativeClosestPointTransform.SimulatedAnnealing = true;
meanDistance = ICPTestData.Test8_CubeOutliers_Rotate(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(true);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 2e-1));
}
public void Umeyama_SA()
{
Reset();
SettingsRealData();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Scaling_Umeyama;
IterativeClosestPointTransform.SimulatedAnnealing = true;
meanDistance = ICPTestData.Test9_Face_Stitch(ref verticesTarget, ref verticesSource, ref verticesResult);
ShowResultsInWindow(true);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
public void Outliers_CubeTranslate_FixedPoints()
{
Reset();
IterativeClosestPointTransform.ICPVersion = ICP_VersionUsed.Horn;
IterativeClosestPointTransform.FixedTestPoints = true;
//KDTreeVertex.KDTreeMode = KDTreeMode.Rednaxala;
IterativeClosestPointTransform.MaximumNumberOfIterations = 10;
// IterativeClosestPointTransform.SimulatedAnnealing = true;
meanDistance = ICPTestData.Test8_CubeOutliers_Translate(ref verticesTarget, ref verticesSource, ref verticesResult);
// this.ShowResultsInWindowIncludingLines(false);
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-3));
}
protected void CheckResult_VectorsUltra()
{
Assert.IsTrue(ICPTestData.CheckResult(verticesTarget, verticesResult, 1e-10));
}
