private void Clouds_ICP()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
//------------------
//ICP
ICPLib.IterativeClosestPointTransform icp = new ICPLib.IterativeClosestPointTransform();
icp.Reset_RealData();
icp.ICPSettings.ICPVersion = ICP_VersionUsed.Zinsser;
icp.ICPSettings.MaximumNumberOfIterations = 50;
PointCloud pointCloudResult = icp.PerformICP(this.pSource, this.pTarget);
pointCloudResult.AddPointCloud(this.pTarget);
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = icp.Matrix;
registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
private void Clouds_AlignPCAAxes()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
PointCloud pointCloudTarget = this.pSource;
pointCloudTarget = PCA.RotateToOriginAxes(pointCloudTarget);
PointCloud pointCloudSource = this.pTarget;
PointCloud pointCloudResult = PCA.RotateToOriginAxes(pointCloudSource);
pResult = pointCloudResult;
//pResult.SetColor(new OpenTK.Vector3(1, 0, 0));
pointCloudResult.AddPointCloud(this.pTarget);
SaveResultCloudAndShow(pointCloudResult);
//DisplayResultPointCloud();
//DisplayObjects();
}
private void Clouds_PCA()
{
if (!GetFirstTwoCloudsFromOpenGLControl())
{
return;
}
PCA pca = new PCA();
pca.MaxmimumIterations = 1;
PointCloud pointCloudResult = pca.AlignPointClouds_SVD(this.pSource, this.pTarget);
pointCloudResult.AddPointCloud(this.pTarget);
SaveResultCloudAndShow(pointCloudResult);
this.registrationMatrix = pca.Matrix;
registrationMatrix.Save(GLSettings.Path + GLSettings.PathPointClouds, "registrationMatrix.txt");
}
