//private Transform correctPCATransform(DenseMatrix inputMat_source, DenseMatrix inputMat_target, Transform PCATrans_source, Transform PCATrans_target)
//{
// DenseMatrix mat0 = PCATrans_source.GetMatrix();
// List<DenseMatrix> mats = new List<DenseMatrix>();
// double min = -1;
// int minIndex = 0;
// DenseMatrix invTrans_target = PCATrans_target.GetMatrix().Inverse() as DenseMatrix;
// DenseMatrix invedMat_target = invTrans_target * inputMat_target;
// for (int i = 0; i < 8; i++)
// {
// DenseMatrix mat = Utils_PCA.getMirroredTransMat(mat0, i);
// mats.Add(mat);
// DenseMatrix invTrans_source = mat.Inverse() as DenseMatrix;
// double err = Utils_CheckErr.CheckErr(invTrans_source * inputMat_source, invedMat_target, ref cellIndex);
// if (min < 0 || min > err)
// {
// min = err;
// minIndex = i;
// }
// }
// Transform newPCATrans_source = new Transform(mats[minIndex]);
// return newPCATrans_source;
//}
private void endICP(int iLoop)
{
TWO_MESHS_sourceObj.Transform = new Transform(PCA_TransMat_target * SVD_TransMat * PCA_InvTransMat_source);
DenseMatrix checkSourceMat = PCA_TransMat_target * SVD_TransMat * PCA_InvTransMat_source * TWO_MESHS_sourceObj.ToDataMat();
DenseMatrix checkSourceMat_PCA = PCA_TransMat_target * PCA_InvTransMat_source * TWO_MESHS_sourceObj.ToDataMat();
int timeDelta = EndTime - StartTime;
double err_pca = Utils_CheckErr.CheckErr(checkSourceMat_PCA, TWO_MESHS_targetObj.ToDataMat());
double err = Utils_CheckErr.CheckErr(checkSourceMat, TWO_MESHS_targetObj.ToDataMat());
string str = "Time: " + timeDelta.ToString() + "\n";
str += "Err_PCA: " + err_pca.ToString() + "\n";
str += "Err: " + err.ToString() + "\n";
foreach (double rec in errList)
{
str += rec.ToString() + "\n";
}
StreamWriter writer = new StreamWriter("d:/rec_icp_"
+ TargetSamples.ToString() + "_" + SourceSamples.ToString() + "_" + iLoop.ToString() + ".txt");
writer.Write(str);
writer.Close();
}
private void endSA(int iloop)
{
double[] data = sa_Processor.currentMinData;
DenseMatrix mirrorMat = Utils_PCA.getMirrorTransMat(Convert.ToInt32(data[7]));
Transform transform = new Transform();
transform.DoMove(data[0], data[1], data[2]);
transform.DoRotateX(data[3]);
transform.DoRotateY(data[4]);
transform.DoRotateZ(data[5]);
transform.DoScale(data[6]);
DenseMatrix transformMat = transform.GetMatrix() * mirrorMat;
TWO_MESHS_sourceObj.Transform = new Transform(PCA_TransMat_target * transformMat * PCA_InvTransMat_source);
DenseMatrix checkSourceMat = PCA_TransMat_target * transformMat * PCA_InvTransMat_source * TWO_MESHS_sourceObj.ToDataMat();
DenseMatrix checkSourceMat_PCA = PCA_TransMat_target * PCA_InvTransMat_source * TWO_MESHS_sourceObj.ToDataMat();
int timeDelta = EndTime - StartTime;
double err_pca = Utils_CheckErr.CheckErr(checkSourceMat_PCA, TWO_MESHS_targetObj.ToDataMat());
double err = Utils_CheckErr.CheckErr(checkSourceMat, TWO_MESHS_targetObj.ToDataMat());
string str = "Time: " + timeDelta.ToString() + "\n";
str += "Err_PCA: " + err_pca.ToString() + "\n";
str += "Err: " + err.ToString() + "\n";
foreach (double rec in sa_Processor.Record)
{
str += rec.ToString() + "\n";
}
StreamWriter writer = new StreamWriter("d:/rec_sa_"
+ TargetSamples.ToString() + "_" + SourceSamples.ToString() + "_" + iloop.ToString() + ".txt");
writer.Write(str);
writer.Close();
}
