public Coordinate GetRotationNormalizedDiff(ScannerMatch scannerMatch, int probe1, int probe2, int rotation)
{
var myP1 = scannerMatch.probeMatches[probe1].myProbe;
var myP2 = scannerMatch.probeMatches[probe2].myProbe;
var myRotationNormalizedDiff = myScanner.RelativeCoordinates[myP1][myP2];
var result = rotation switch
{
0 => new Coordinate(myRotationNormalizedDiff.X, myRotationNormalizedDiff.Y, myRotationNormalizedDiff.Z),
1 => new Coordinate(myRotationNormalizedDiff.Y, myRotationNormalizedDiff.Z.Value, myRotationNormalizedDiff.X),
2 => new Coordinate(myRotationNormalizedDiff.Z.Value, myRotationNormalizedDiff.X, myRotationNormalizedDiff.Y),
3 => new Coordinate(myRotationNormalizedDiff.X, myRotationNormalizedDiff.Z.Value, myRotationNormalizedDiff.Y),
4 => new Coordinate(myRotationNormalizedDiff.Z.Value, myRotationNormalizedDiff.Y, myRotationNormalizedDiff.X),
5 => new Coordinate(myRotationNormalizedDiff.Y, myRotationNormalizedDiff.X, myRotationNormalizedDiff.Z.Value),
_ => null
};
if (result.X == 0)
{
return(null);
}
if (result.Y == 0)
{
return(null);
}
if (result.Z == 0)
{
return(null);
}
return(result);
}
}
public void NormalizeShifts(ScannerMatch scannerMatch)
{
var pair = scannerMatch.probeMatches.First();
var mine = normalizedCoordinates[pair.myProbe];
var theirs = scannerMatch.otherScanner.Coordinates[pair.theirProbe];
normalizationShifts = new long[3];
normalizationShifts[0] = theirs.X - mine.X;
normalizationShifts[1] = theirs.Y - mine.Y;
normalizationShifts[2] = theirs.Z.Value - mine.Z.Value;
DoShifts(normalizationShifts);
}
public (int first, int second, Coordinate myDiff) GetRotationNormalizedDiff(ScannerMatch scannerMatch)
{
for (int n = 0; n < scannerMatch.probeMatches.Count; n++)
{
for (int i = 0; i < scannerMatch.probeMatches.Count; i++)
{
var myRotationNormalizedDiff = GetRotationNormalizedDiff(scannerMatch, n, i, scannerMatch.rotation);
if (myRotationNormalizedDiff != null)
{
return(n, i, myRotationNormalizedDiff);
}
}
}
return(-1, -1, null);
}
public void NormalizeFlips(ScannerMatch scannerMatch)
{
(int first, int second, Coordinate myRotationNormalizedDiff) = GetRotationNormalizedDiff(scannerMatch);
var theirP1 = scannerMatch.probeMatches[first].theirProbe;
var theirP2 = scannerMatch.probeMatches[second].theirProbe;
var theirDiff = scannerMatch.otherScanner.RelativeCoordinates[theirP1][theirP2];
normalizationFlips = new bool[3];
if (myRotationNormalizedDiff.X != theirDiff.X)
{
normalizationFlips[0] = true;
}
if (myRotationNormalizedDiff.Y != theirDiff.Y)
{
normalizationFlips[1] = true;
}
if (myRotationNormalizedDiff.Z != theirDiff.Z)
{
normalizationFlips[2] = true;
}
DoFlips(normalizationFlips);
}