private void Clouds_ICP()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
//------------------
//ICP
ICPLib.IterativeClosestPointTransform icpInstance = new ICPLib.IterativeClosestPointTransform();
icpInstance.Settings_Reset_RealData();
icpInstance.ICPSettings.ICPVersion = ICP_VersionUsed.Scaling_Zinsser;
icpInstance.ICPSettings.MaximumNumberOfIterations = 50;
//icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela_ExcludePoints;
icpInstance.ICPSettings.KDTreeMode = KDTreeMode.Rednaxela;
PointCloudVertices pointCloudResult = icpInstance.PerformICP(this.pSource.ToPointCloudVertices(), this.pTarget.ToPointCloudVertices());
pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices());
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = icpInstance.Matrix;
registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt");
}
private void toolStripCalculateRegistrationLoaded_Moved_Click(object sender, EventArgs e)
{
if (pointCloudFirstAfterLoad != null)
{
registrationMatrix = this.OGLControl.CalculateRegistrationMatrix(this.pointCloudFirstAfterLoad);
registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt");
}
else
{
System.Windows.Forms.MessageBox.Show("No Point cloud available");
}
}
private void Clouds_PCA()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
PCA pca = new PCA();
pca.MaxmimumIterations = 1;
PointCloudVertices pointCloudResult = pca.AlignPointClouds_SVD(this.pSource.ToPointCloudVertices(), this.pTarget.ToPointCloudVertices());
pointCloudResult.AddPointCloud(this.pTarget.ToPointCloudVertices());
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = pca.Matrix;
registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt");
}
private void toolStripCalculateRegistration1_2_Click(object sender, EventArgs e)
{
registrationMatrix = this.OGLControl.CalculateRegistrationMatrix1_2();
registrationMatrix.Save(GLSettings.PathModels, "registrationMatrix.txt");
}