Global Registration

///

Example of Global Registration

using System;
using System.Reflection;
using System.Collections.Generic;
 
namespace MR.DotNet.Sample
{
    internal class Program
    {
        static void PrintStats( MultiwayICP icp )
        {
            int numActivePairs = icp.GetNumActivePairs();
            Console.WriteLine($"Number of samples: {icp.GetNumSamples()}");
            Console.WriteLine($"Number of active pairs: {numActivePairs}");
 
            if ( numActivePairs > 0 )
            {
                double p2ptMetric = icp.GetMeanSqDistToPoint();
                double p2ptInaccuracy = icp.GetMeanSqDistToPoint(p2ptMetric);
                Console.WriteLine($"RMS point-to-point distance: {p2ptMetric} ± {p2ptInaccuracy}");
 
                double p2plMetric = icp.GetMeanSqDistToPlane();
                double p2plInaccuracy = icp.GetMeanSqDistToPlane(p2ptMetric);
                Console.WriteLine($"RMS point-to-plane distance: {p2plMetric} ± {p2plInaccuracy}");
            }
        }
        static void Main(string[] args)
        {
            if (args.Length < 3)
            {
                Console.WriteLine("Usage: {0} INPUT1 INPUT2 [INPUTS...] OUTPUT", Assembly.GetExecutingAssembly().GetName().Name);
                return;
            }
 
            try
            {
                int inputNum = args.Length - 1;
                List<MeshOrPointsXf> inputs = new List<MeshOrPointsXf>(inputNum);
                Box3f maxBBox = new Box3f();
                for (int i = 0; i < inputNum; ++i)
                {
                    MeshOrPointsXf obj = new MeshOrPointsXf();
                    obj.obj = PointCloud.FromAnySupportedFormat(args[i]);
                    obj.xf = new AffineXf3f();
                    inputs.Add(obj);
                    Box3f bbox = obj.obj.BoundingBox;
                    if ( !maxBBox.Valid() || bbox.Volume() > maxBBox.Volume() )
                        maxBBox = bbox;
                }
 
                MultiwayICPSamplingParameters samplingParams = new MultiwayICPSamplingParameters();
                samplingParams.samplingVoxelSize = maxBBox.Diagonal() * 0.03f;
                
                MultiwayICP icp = new MultiwayICP(inputs, samplingParams );
                ICPProperties iCPProperties = new ICPProperties();
                icp.SetParams( iCPProperties );
                icp.UpdateAllPointPairs();
                PrintStats(icp);
 
                Console.WriteLine("Calculating transformations...");
                var xfs = icp.CalculateTransformations();
                PrintStats(icp);
                PointCloud output = new PointCloud();
                for (int i = 0; i < inputNum; ++i)
                {
                    var xf = xfs[i];
                    for (int j = 0; j < inputs[i].obj.Points.Count; j++)
                        output.AddPoint( xf.Apply( inputs[i].obj.Points[j]) );
                }
 
                PointCloud.ToAnySupportedFormat( output , args[args.Length - 1] );
            }
            catch (Exception e)
            {
                Console.WriteLine("Error: {0}", e.Message);
            }
        }
    }
}