protected override void SolveInstance(IGH_DataAccess DA)
{
///input parameters
PointCloud Rhino_Cloud1 = new PointCloud();
PointCloud Rhino_Cloud2 = new PointCloud();
/// initialise parameters
double Metric = 0.0, InlierRatio = 1.0, MaxIterations = 60;
///import
if (!DA.GetData("pc_moving", ref Rhino_Cloud1))
{
return;
}
if (!DA.GetData("pc_fixed", ref Rhino_Cloud2))
{
return;
}
if (!DA.GetData("Metric", ref Metric))
{
return;
}
if (!DA.GetData("InlierRatio", ref InlierRatio))
{
return;
}
if (!DA.GetData("MaxIterations", ref MaxIterations))
{
return;
}
/// 1. decompose points into doubles (rhinocommon => .NET)
/// 2. create appropriete matlab arrays (.NET => Matlab)
/// 3. run matlab function (Matlab)
/// 4. convert function output (list with indices) to .Net array (Matlab => .Net)
/// 5. convert array to rhinocommon list. (.Net => Rhinocommon)
/// 6. output data
/// 1.
var Rhino_xyz1 = Rhino_Cloud1.GetPoints();
var Rhino_xyz2 = Rhino_Cloud2.GetPoints();
List <double> xyz1 = new List <double>();
List <double> xyz2 = new List <double>();
for (int i = 0; i < Rhino_Cloud1.Count; i++)
{
xyz1.Add(Rhino_xyz1[i].X);
xyz1.Add(Rhino_xyz1[i].Y);
xyz1.Add(Rhino_xyz1[i].Z);
}
var Matlab_xyz1 = new MWNumericArray(Rhino_Cloud1.Count, 3, xyz1.ToArray());
for (int j = 0; j < Rhino_Cloud2.Count; j++)
{
xyz2.Add(Rhino_xyz2[j].X);
xyz2.Add(Rhino_xyz2[j].Y);
xyz2.Add(Rhino_xyz2[j].Z);
}
var Matlab_xyz2 = new MWNumericArray(Rhino_Cloud2.Count, 3, xyz2.ToArray());
/// 3.
Scan2BIM_Matlab.General general = new Scan2BIM_Matlab.General();
//MWArray[] Result = new MWArray[2];
MWArray cluster = new MWNumericArray();
cluster = general.S2B_ICP2(Matlab_xyz1, Matlab_xyz2, Metric, InlierRatio, MaxIterations);
/// 4.
MWNumericArray na = (MWNumericArray)cluster;
double[] dc = (double[])na.ToVector(0);
/// 5.
var Rhino_param = new List <double>(dc);
/// 6.
DA.SetDataList(0, Rhino_param);
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
///define i/o parameters
PointCloud rhinoCloud = new PointCloud();
Double k = 6;
/// read inputs
if (!DA.GetData(0, ref rhinoCloud))
{
return;
}
if (!DA.GetData("k", ref k))
{
return;
}
///exceptions
if (rhinoCloud.Count <= k)
{
throw new Size_Exception(string.Format("Use point clouds with more than k points"));
}
if (k < 3)
{
throw new Size_Exception(string.Format("enter value k >=3"));
}
/// interal parameters
List <Vector3d> normals = new List <Vector3d>();
if (!rhinoCloud.ContainsNormals)
{
var X = rhinoCloud.Select(x => x.X).ToList();
var Y = rhinoCloud.Select(x => x.Y).ToList();
var Z = rhinoCloud.Select(x => x.Z).ToList();
///2.
var Matlab_X = new MWNumericArray(rhinoCloud.Count, 1, X.ToArray());
var Matlab_Y = new MWNumericArray(rhinoCloud.Count, 1, Y.ToArray());
var Matlab_Z = new MWNumericArray(rhinoCloud.Count, 1, Z.ToArray());
/// 3.
Scan2BIM_Matlab.General general = new Scan2BIM_Matlab.General();
var mwca = (MWCellArray)general.S2B_ComputeNormals2(Matlab_X, Matlab_Y, Matlab_Z, k);
/// 4.
MWNumericArray na0 = (MWNumericArray)mwca[1];
double[] dc0 = (double[])na0.ToVector(0);
MWNumericArray na1 = (MWNumericArray)mwca[2];
double[] dc1 = (double[])na1.ToVector(0);
MWNumericArray na2 = (MWNumericArray)mwca[3];
double[] dc2 = (double[])na2.ToVector(0);
/// 5.
var Rhino_param0 = new List <double>(dc0);
var Rhino_param1 = new List <double>(dc1);
var Rhino_param2 = new List <double>(dc2);
Vector3d R = new Vector3d();
for (int i = 0; i < Rhino_param0.Count; i++)
{
R = new Vector3d(Rhino_param0[i], Rhino_param1[i], Rhino_param2[i]);
normals.Add(R);
}
}
else
{
normals = rhinoCloud.GetNormals().ToList();
}
PointCloud rhinoCloud_out = new PointCloud();
rhinoCloud_out.AddRange(rhinoCloud.GetPoints(), normals);
GH_Cloud rhinoCloud_out2 = new GH_Cloud(rhinoCloud_out);
/// 6.
DA.SetData(0, rhinoCloud_out2);
}
