/// <summary>
/// calculates a start solution set in total of "myNumberPoints" points
/// </summary>
/// <param name="pointsTargetSubset"></param>
/// <param name="pointsSourceSubset"></param>
/// <returns></returns>
private static ICPSolution CalculateStartSolution(ref PointCloudVertices pointsSourceSubset, ref PointCloudVertices pointsTargetSubset, int myNumberPoints,
LandmarkTransform myLandmarkTranform, PointCloudVertices pointsTarget, PointCloudVertices pointsSource, int maxNumberOfIterations)
{
try
{
if (CheckSourceTarget(pointsTarget, pointsSource))
{
return(null);
}
pointsTargetSubset = PointCloudVertices.CopyVertices(pointsTarget);
pointsSourceSubset = PointCloudVertices.CopyVertices(pointsSource);
ICPSolution res = IterateStartPoints(pointsSourceSubset, pointsTargetSubset, myNumberPoints, myLandmarkTranform, maxNumberOfIterations);
if (res == null)
{
System.Windows.Forms.MessageBox.Show("Could not find starting points for ICP Iteration - bad matching");
return(null);
}
PointCloudVertices.RemoveEntriesByIndices(ref pointsSourceSubset, ref pointsTargetSubset, res.RandomIndices);
return(res);
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("Error in CalculateStartSolution of ICP: " + err.Message);
return(null);
}
}