public override bool SavePointCloud(string path, string fileName)
{
try
{
if (ColorMetaData == null || DepthMetaData == null)
{
return(false);
}
//List<int> listToBeRemoved = new List<int>();
PointCloud pc = MetaDataBase.ToPointCloud(this.ColorMetaData, this.DepthMetaData, this.BodyMetaData, this.coordinateMapper);
List <Vector3> vList = new List <Vector3>();
List <Vector3> cList = new List <Vector3>();;
if (PointCloudScannerSettings.ShowFaceScanEllipse)
{
for (int i = pc.Count - 1; i >= 0; i--)
{
bool add = true;
if (pc.Vectors[i].X > 0 && pc.Vectors[i].X > faceX)
{
add = false;
}
else if (pc.Vectors[i].X < 0 && pc.Vectors[i].X < -faceX)
{
add = false;
}
else if (pc.Vectors[i].Y > 0 && pc.Vectors[i].Y > faceY)
{
add = false;
}
else if (pc.Vectors[i].Y < 0 && pc.Vectors[i].Y < -faceY)
{
add = false;
}
if (add)
{
vList.Add(pc.Vectors[i]);
cList.Add(pc.Colors[i]);
}
}
}
PointCloud pcNew = new OpenTKExtension.PointCloud(vList, cList, null, null, null, null);
//pc.RemovePoints(listToBeRemoved);
return(UtilsPointCloudIO.ToObjFile_ColorInVertex(pcNew, path + "\\" + fileName));
}
catch (Exception err)
{
System.Windows.Forms.MessageBox.Show("SW Error - error saving Point cloud: " + err.Message);
return(false);
}
}
private void testClouds()
{
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
pTarget = null;
for (int i = 0; i < 10; i++)
{
//first iteration
if (pTarget == null)
{
pTarget = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i).ToString() + ".obj");
}
pSource = PointCloud.FromObjFile(GLSettings.Path + GLSettings.PathPointClouds, "Nick\\PointCloudSequence#" + (i + 1).ToString() + ".obj");
//------------------
//ICP
icp.Reset_RealData();
//icp.ICPSettings.ThresholdMergedPoints = 0f;
icp.ICPSettings.MaximumNumberOfIterations = 15;
pTarget = icp.PerformICP(pSource, this.pTarget);
System.Diagnostics.Debug.WriteLine("###### ICP for point cloud: " + pTarget.Name + " - points added: " + icp.PointsAdded.ToString());
// this.registrationMatrix = icp.Matrix;
// registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
GlobalVariables.ShowLastTimeSpan("--> Time for ICP ");
SaveResultCloudAndShow(pTarget);
}
private static float CalculateScale_Umeyama(PointCloud pointsSourceShift, Vector3 eigenvalues, Matrix3 K2)
{
float sigmaSquared = 0f;
for (int i = 0; i < pointsSourceShift.Vectors.Length; i++)
{
sigmaSquared += pointsSourceShift.Vectors[i].NormSquared();
}
sigmaSquared /= pointsSourceShift.Vectors.Length;
float c = 0.0F;
for (int i = 0; i < 3; i++)
{
c += eigenvalues[i];
}
if (K2[2, 2] < 0)
{
c -= 2 * eigenvalues[2];
}
c = c / sigmaSquared;
return(c);
}
private static double CalculateScale_Umeyama(PointCloud pointsSourceShift, Vector3d eigenvalues, Matrix3d K2)
{
double sigmaSquared = 0f;
for (int i = 0; i < pointsSourceShift.Count; i++)
{
sigmaSquared += pointsSourceShift.Vectors[i].NormSquared();
}
sigmaSquared /= pointsSourceShift.Count;
double c = 0.0F;
for (int i = 0; i < 3; i++)
{
c += eigenvalues[i];
}
if (K2[2, 2] < 0)
{
c -= 2 * eigenvalues[2];
}
c = c / sigmaSquared;
return(c);
}
/// <summary>
/// colors and indices are lost!!
/// </summary>
/// <param name="pc"></param>
/// <returns></returns>
public static PointCloud ResizeAndSort_Distance(PointCloud pc)
{
pc.ResizeTo1();
List <Vertex> vList = new List <Vertex>();
if (pc.Colors == null || pc.Colors.Length != pc.Vectors.Length)
{
pc.SetDefaultColors();
}
for (int i = 0; i < pc.Vectors.Length; i++)
{
Vertex v = new Vertex(pc.Vectors[i]);
v.Color = pc.Colors[i];
vList.Add(v);
}
vList.Sort(new Vector_Length());
PointCloud pcNew = PointCloud.FromListVertices(vList);
return(pcNew);
}
public static Matrix4d FindTransformationMatrix(PointCloud pointsSource, PointCloud pointsTarget, ICP_VersionUsed icpVersionUsed)
{
//shift points to the center of mass (centroid)
Vector3 centroidTarget = pointsTarget.CentroidVector;
//Vector3d centroidTarget_Double = new Vector3d(pointsTarget.CentroidVector.X, pointsTarget.CentroidVector.Y, pointsTarget.CentroidVector.Z);
PointCloud pointsTargetTranslated = pointsTarget.Clone();
pointsTargetTranslated.SubtractVector(centroidTarget);
Vector3 centroidSource = pointsSource.CentroidVector;
PointCloud pointsSourceTranslated = pointsSource.Clone();
pointsSourceTranslated.SubtractVector(centroidSource);
Matrix3d R = FindRotationMatrix(pointsSourceTranslated, pointsTargetTranslated, icpVersionUsed);
Vector3d T = CalculateTranslation(centroidSource, centroidTarget, R);
Matrix4d myMatrix = new Matrix4d();
myMatrix = myMatrix.PutTheMatrix4dtogether(T, R);
return(myMatrix);
}
/// <summary>
/// calculates Matrix for alignment of sourceAxes and targetAxes; sets pointCloudResult
/// </summary>
/// <param name="i"></param>
/// <param name="j"></param>
/// <param name="bestResultMeanDistance"></param>
/// <param name="meanDistance"></param>
/// <param name="myMatrixBestResult"></param>
/// <param name="sourceAxes"></param>
private void SVD_ForTwoPointCloudAlignment_Double(int i, int j, ref float meanDistance, ref Matrix4 myMatrixBestResult, PointCloud sourceAxes)
{
PointCloud targetAxes = InvertAxes(pcTargetCentered, pcTargetCentered.PCAAxes, j);
//Matrix4 myMatrix = SVD_Float.FindTransformationMatrix(sourceAxes, targetAxes, ICP_VersionUsed.Scaling_Umeyama);
Matrix4d myMatrix4d = SVD.FindTransformationMatrix_WithoutCentroids(sourceAxes, targetAxes, ICP_VersionUsed.Umeyama);
//CheckPCA(myMatrix4d, sourceAxes, targetAxes);
PointCloud myResultPC = myMatrix4d.TransformPoints(pcSourceCentered);
//--------------
pcTreeResult = KDTree.FindClosestPointCloud_Parallel(myResultPC);
meanDistance = KDTree.MeanDistance;
//PointCloud myPointCloudTargetTemp = kdtree.FindNearest_Rednaxela(ref myPointsResultTemp, pointCloudTargetCentered, -1);
System.Diagnostics.Debug.WriteLine(" in iteration: MeanDistance between orientations: " + i.ToString() + " : " + j.ToString() + " : " + meanDistance.ToString("G"));
if (meanDistance < bestResultMeanDistance)
{
myMatrixBestResult = myMatrix4d.ToMatrix4();
bestResultMeanDistance = meanDistance;
pcResultBest = myResultPC;
}
pcResult = myResultPC;
}
public static void CreateOutliers(PointCloud pointCloud, int numberOfOutliers)
{
int indexInPointCloud = pointCloud.Vectors.Length - 1;
int numberIterate = 0;
List <Vector3> listV = new List <Vector3>(pointCloud.Vectors);
for (int i = pointCloud.Vectors.Length - 1; i >= 0; i--)
{
//Vector3 p = vectors[i].Vector;
Vector3 perturb = new Vector3(pointCloud.Vectors[i]);
numberIterate++;
if (numberIterate > numberOfOutliers)
{
return;
}
if (i % 3 == 0)
{
perturb.X *= 1.2f; perturb.Y *= 1.3f; perturb.Z *= 1.05f;
}
else if (i % 3 == 1)
{
perturb.X *= 1.4f; perturb.Y *= 0.9f; perturb.Z *= 1.2f;
}
else
{
perturb.X *= 0.9f; perturb.Y *= 1.2f; perturb.Z *= 1.1f;
}
indexInPointCloud++;
listV.Add(perturb);
}
pointCloud.Vectors = listV.ToArray();
}
public static void ShuffleRandom(PointCloud pointCloud)
{
IList <Vector3> lNew = new List <Vector3>(pointCloud.Vectors);
lNew.Shuffle();
}
public PointCloud Clone()
{
return(PointCloud.Clone(this));
}
public void AddPointCloud(string name, PointCloud pc)
{
this.OpenGL_UControl.AddPointCloud(name, pc);
}
public KDTreeKennell(PointCloud pc) : this()
{
Build(pc);
}
public void Update(List <Vector3> points)
{
this.pointCloud = new OpenTKExtension.PointCloud(points, null, null, null, null, null);
FillPointCloud();
FillIndexBuffer();
}
public static Vector3 ResetCentroid(PointCloud pc, bool centered)
{
return(pc.ResetCentroid(centered));
}
/// <summary>Generates a 3D PointCloud for a cuboid.</summary>
/// <param name="Name">PointCloud name.</param>
/// <param name="Radius">Cylinder radius.</param>
/// <param name="Height">Cylinder height.</param>
/// <param name="numPoints">Number of points for circular section.</param>
/// <param name="Color">Color vector.</param>
public static PointCloud CuboidEmpty(float xMax, float yMax, float zMax, int pointsMaxX, int pointsMaxY, int pointsMaxZ)
{
float stepX = xMax / pointsMaxX;
float stepY = yMax / pointsMaxY;
float stepZ = zMax / pointsMaxZ;
PointCloud pCloud = new PointCloud();
List <Vector3> pointsList = new List <Vector3>();
List <uint> listIndices = new List <uint>();
uint ind = 0;
for (int i = 0; i <= pointsMaxX; i++)
{
for (int j = 0; j <= pointsMaxY; j++)
{
if ((i == 0 || i == pointsMaxX) || (j == 0 || j == pointsMaxY))
{
for (int k = 0; k <= pointsMaxZ; k++)
{
Vector3 v = new Vector3(i * stepX, j * stepY, k * stepZ);
pointsList.Add(v);
if (pointsList.Count > 3)
{
ind++;
listIndices.Add(ind - 1);
listIndices.Add(ind);
listIndices.Add(ind - 2);
listIndices.Add(ind);
listIndices.Add(ind - 3);
listIndices.Add(ind);
listIndices.Add(ind - 4);
listIndices.Add(ind);
}
if (pointsList.Count > 2)
{
ind++;
listIndices.Add(ind - 1);
listIndices.Add(ind);
listIndices.Add(ind - 2);
listIndices.Add(ind);
listIndices.Add(ind - 3);
listIndices.Add(ind);
}
if (pointsList.Count > 1)
{
ind++;
listIndices.Add(ind - 1);
listIndices.Add(ind);
listIndices.Add(ind - 2);
listIndices.Add(ind);
}
if (pointsList.Count > 0)
{
listIndices.Add(ind);
listIndices.Add(ind++);
}
}
}
else
{
Vector3 v = new Vector3(i * stepX, j * stepY, 0);
pointsList.Add(v);
v = new Vector3(i * stepX, j * stepY, zMax);
pointsList.Add(v);
}
}
}
pCloud.Vectors = pointsList.ToArray();
pCloud.Indices = listIndices.ToArray();
//pCloud.CreateIndicesDefault();
return(pCloud);
}
public static PointCloud Cube_RegularGrid_Empty(float cubeSize, int numberOfPointsPerPlane)
{
return(PointCloud.FromListVector3(Cube_RegularGrid_Empty_List(cubeSize, numberOfPointsPerPlane)));
}
/// <summary>
/// u - > v translation
/// </summary>
/// <param name="mat"></param>
/// <param name="sourceV"></param>
/// <param name="targetV"></param>
/// <returns></returns>
public static Matrix3 RotationCoordinateChange(this Matrix3 mat, PointCloud cloudOrigin, PointCloud target)
{
for (int i = 0; i < 3; i++)
{
cloudOrigin[i].Vector = cloudOrigin[i].Vector.NormalizeV();
target[i].Vector = target[i].Vector.NormalizeV();
}
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
//float angle = Vector3.CalculateAngle(u[j], v[i]);
//float val = Math.Cos(angle);
mat[i, j] = Vector3.Dot(cloudOrigin[i].Vector, target[j].Vector);
}
}
// mat.Transpose();
//mat.Invert();
//mat.Transpose();
return(mat);
}
//other methods for SVD, for possible later usage
//MathUtils.SingularValueDecomposition3x3(Harray, Uarray, warray, VTarray);
//MathNet.Numerics.Providers.LinearAlgebra.Mkl.MklLinearAlgebraProvider svd = new MathNet.Numerics.Providers.LinearAlgebra.Mkl.MklLinearAlgebraProvider();
//double[] a = MatrixUtilsNumerics.doubleFromArraydouble(Harray);
//double[] u = MatrixUtilsNumerics.doubleFromArraydouble(Uarray);
//double[] vt = MatrixUtilsNumerics.doubleFromArraydouble(Uarray);
//double[] s = new double[3];
//svd.SingularValueDecomposition(true, a, 3, 3, s, u, vt);
private static Matrix3d CalculateRotationBySingularValueDecomposition(Matrix3d H, PointCloud pointsSourceTranslated, ICP_VersionUsed icpVersionUsed)
{
Eigenvalues_Helper(H);
//gives R, the rotation matrix, U - the left eigenvectors, VT - right transposed eigenvectors, EV - the eigenvalues
//see article by Umeyama
//if (H.Determinant < 0)
//{
// R[2, 2] = -R[2, 2];
// //S[2, 2] = -1;
//}
//calculate the sign matrix for using the scale factor
Matrix3d K2 = Matrix3d.Identity;
//double check = U.Determinant * VT.Determinant;
//if (check < 0 && Math.Abs(check) > 1E-3)
//{
// K2[2, 2] = -1;
//}
double scale = CalculateScale_Umeyama(pointsSourceTranslated, EV, K2);
R = Matrix3d.Mult(R, K2);
if (icpVersionUsed == ICP_VersionUsed.Umeyama)
{
//R = Matrix3d.Mult(R, K2);
R = R.MultiplyScalar(scale);
}
return(R);
}
public static Matrix4d FindTransformationMatrix_MinimumDistance(PointCloud pointsSource, PointCloud pointsTarget, ICP_VersionUsed icpVersionUsed, float minimumDistance)
{
minimumDistance *= minimumDistance * 2;
List <Vector3> sourceList = new List <Vector3>();
List <Vector3> targetList = new List <Vector3>();
int numberOfVectorsNotTaken = 0;
for (int i = 0; i < pointsSource.Vectors.Length; i++)
{
float distance = pointsSource.Vectors[i].DistanceSquared(pointsTarget.Vectors[i]);
if (distance < minimumDistance)
{
sourceList.Add(pointsSource.Vectors[i]);
targetList.Add(pointsTarget.Vectors[i]);
}
else
{
numberOfVectorsNotTaken++;
}
}
if (numberOfVectorsNotTaken > 0)
{
System.Diagnostics.Debug.WriteLine("Ignored vectors in SVD because too far: " + numberOfVectorsNotTaken.ToString() + " : out of : " + pointsSource.Count.ToString());
}
PointCloud pSourceNew = PointCloud.FromListVector3(sourceList);
PointCloud pTargetNew = PointCloud.FromListVector3(targetList);
if (pSourceNew == null || pTargetNew == null)
{
return(Matrix4d.Identity);
}
return(FindTransformationMatrix(pSourceNew, pTargetNew, icpVersionUsed));
}
/// <summary>
/// resets all vectors so that there are no negative values
/// </summary>
/// <param name="pc"></param>
public static void ResetToOriginAxis(PointCloud pc)
{
PointCloud.AddVectorToAll(pc, pc.BoundingBox.Min.Abs());
}
public static Matrix4d FindTransformationMatrix_WithoutCentroids(PointCloud pointsSource, PointCloud pointsTarget, ICP_VersionUsed icpVersionUsed)
{
Matrix3d R = FindRotationMatrix(pointsSource, pointsTarget, icpVersionUsed);
//Vector3d T = new Vector3d();
Matrix4d myMatrix = new Matrix4d();
myMatrix = myMatrix.FromMatrix3d(R);
return(myMatrix);
}
/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it) - needed also for image creation
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static byte[] ToColorArrayBytes(PointCloud pointCloud, int width, int height)
{
byte[] colorPixels = new byte[width * height * 4];
int xInt = 0;
int yInt = 0;
int zInt = 0;
int depthIndex = 0;
try
{
////out ushort[] depthPixels = PointCloud.ToUshort1Dim(pc, width, height);
float xMin = pointCloud.BoundingBoxMin.X;
float yMin = pointCloud.BoundingBoxMin.Y;
float dx = pointCloud.BoundingBoxMax.X - pointCloud.BoundingBoxMin.X;
float dy = pointCloud.BoundingBoxMax.Y - pointCloud.BoundingBoxMin.Y;
//init to black background
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
depthIndex = (y * width) + x;
//depthIndex = ((height - y - 1) * width) + x;
int colorIndex = depthIndex * 4;
colorPixels[colorIndex] = (byte)0;
colorPixels[colorIndex + 1] = (byte)0;
colorPixels[colorIndex + 2] = (byte)0;
colorPixels[colorIndex + 3] = (byte)255;
}
}
// set color -------------------------------------
for (int i = 0; i < pointCloud.Count; i++)
{
Vector3 v = pointCloud.Vectors[i];
Vector3 color = pointCloud.Colors[i];
xInt = Convert.ToInt32((v.X - xMin) * width / dx);
yInt = Convert.ToInt32((v.Y - yMin) * height / dy);
zInt = Convert.ToInt32(v.Z);
//exclude rounding errors
if (xInt < width && yInt < height)
{
//rotate the cloud to 180 degrees, so that display as image is OK
depthIndex = ((height - yInt - 1) * width) + xInt;
int colorIndex = depthIndex * 4;
colorPixels[colorIndex] = Convert.ToByte(color.X * 255);
colorPixels[colorIndex + 1] = Convert.ToByte(color.Y * 255);
colorPixels[colorIndex + 2] = Convert.ToByte(color.Z * 255);
colorPixels[colorIndex + 3] = 255;
}
}
}
catch
{
System.Diagnostics.Debug.WriteLine("Error in ToColorArrayBytes: " + xInt.ToString() + " : " + yInt.ToString() + " : " + zInt.ToString() + " : " + depthIndex.ToString() + " : ");
}
return(colorPixels);
}
public Face(List <Vector3> points)
{
this.pointCloud = new OpenTKExtension.PointCloud(points, null, null, null, null, null);
}
public KDTreeEricRegina(PointCloud pc) : this()
{
Build(pc);
}
/// <summary>
/// returns the target (tree) points found for the input (source) points
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public PointCloud FindClosestPointCloud_NotParallel(PointCloud source)
{
this.source = source;
this.ResetTaken();
VertexKDTree[] resultArray = new VertexKDTree[source.Count];
PointCloud sourceShuffled;
if (this.TakenAlgorithm)
{
sourceShuffled = source.Clone();
sourceShuffled.SetDefaultIndices();
sourceShuffled = PointCloud.Shuffle(sourceShuffled);
}
else
{
sourceShuffled = source;
}
int nearest_index = 0;
float nearest_distance = 0f;
//System.Threading.Tasks.Parallel.For(0, source.Count, i =>
for (int i = 0; i < sourceShuffled.Count; i++)
{
VertexKDTree vSource = new VertexKDTree(sourceShuffled.Vectors[i], i);
VertexKDTree vTargetFound = FindClosestPoint(vSource, ref nearest_distance, ref nearest_index);
//resultArray[i] = vTargetFound.Clone();
resultArray[i] = vTargetFound;
}
;
List <VertexKDTree> resultList = new List <VertexKDTree>(resultArray);
result = PointCloud.FromListVertexKDTree(resultList);
//shuffle back
//float f = PointCloud.MeanDistance(sourceShuffled, pcResult);
PointCloud pcResultShuffledBack;
if (this.TakenAlgorithm)
{
pcResultShuffledBack = result.Clone();
for (int i = 0; i < pcResultShuffledBack.Count; i++)
{
//pcResultShuffled.Vectors[i] = pcResult.Vectors[Convert.ToInt32(sourceShuffled.Indices[i])];
pcResultShuffledBack.Vectors[Convert.ToInt32(sourceShuffled.Indices[i])] = result.Vectors[i];
}
}
else
{
pcResultShuffledBack = result;
}
// this.MeanDistance = PointCloud.MeanDistance(source, pcResultShuffledBack);
return(pcResultShuffledBack);
}
/// <summary>
/// at least source points should be non zero
/// </summary>
/// <param name="mypointCloudTarget"></param>
/// <param name="mypointCloudSource"></param>
/// <param name="mypointCloudResult"></param>
/// <param name="changeColor"></param>
public void Show3PointClouds(PointCloud mypointCloudSource, PointCloud mypointCloudTarget, PointCloud mypointCloudResult, bool changeColor)
{
this.OpenGLControl.RemoveAllPointClouds();
mypointCloudTarget.Name = "Target";
mypointCloudSource.Name = "Source";
mypointCloudResult.Name = "Result";
//target in green
List <System.Drawing.Color> myColors;
if (mypointCloudTarget != null)
{
if (changeColor)
{
myColors = ColorExtensions.ToColorList(mypointCloudTarget.Count, 0, 255, 0, 255);
PointCloud.SetColorToList(mypointCloudTarget, myColors);
}
this.OpenGLControl.ShowPointCloud(mypointCloudTarget);
}
if (mypointCloudSource != null)
{
//source in white
myColors = ColorExtensions.ToColorList(mypointCloudSource.Count, 255, 255, 255, 255);
if (changeColor)
{
PointCloud.SetColorToList(mypointCloudSource, myColors);
}
this.OpenGLControl.ShowPointCloud(mypointCloudSource);
}
if (mypointCloudResult != null)
{
//transformed in red
myColors = ColorExtensions.ToColorList(mypointCloudResult.Count, 255, 0, 0, 255);
if (changeColor)
{
PointCloud.SetColorToList(mypointCloudResult, myColors);
}
this.OpenGLControl.ShowPointCloud(mypointCloudResult);
}
}
/// <summary>
/// at least source points should be non zero
/// </summary>
/// <param name="mypointCloudTarget"></param>
/// <param name="mypointCloudSource"></param>
/// <param name="mypointCloudResult"></param>
/// <param name="changeColor"></param>
public void Show3PointCloudOpenGL(PointCloud mypointCloudSource, PointCloud mypointCloudTarget, PointCloud mypointCloudResult, bool changeColor)
{
this.OpenGLControl.RemoveAllPointClouds();
//target in green
if (mypointCloudTarget != null)
{
if (changeColor)
{
mypointCloudTarget.Colors = ColorExtensions.ToVector3Array(mypointCloudTarget.Vectors.Length, 0, 255, 0);
}
ShowPointCloudOpenGL(mypointCloudTarget, false);
}
if (mypointCloudSource != null)
{
//source in white
if (changeColor)
{
mypointCloudSource.Colors = ColorExtensions.ToVector3Array(mypointCloudSource.Vectors.Length, 255, 255, 255);
}
ShowPointCloudOpenGL(mypointCloudSource, false);
}
if (mypointCloudResult != null)
{
//transformed in red
if (changeColor)
{
mypointCloudResult.Colors = ColorExtensions.ToVector3Array(mypointCloudResult.Vectors.Length, 255, 0, 0);
}
ShowPointCloudOpenGL(mypointCloudResult, false);
}
}
public static PointCloud CloneAll(PointCloud pc)
{
return(pc.Clone());
}
public void ShowPointCloud(PointCloud pc)
{
this.OpenGLControl.ShowPointCloud(pc);
}
public static void ToJsonFile(PointCloud pc, string fileName)
{
JsonUtils.Serialize(pc.Vectors, fileName);
}