public void setMap()
{
// try
{
var mesh = setBorderMap();
mesh.TextureCoordinates = setMapCollection();
ImageBrush brush = new ImageBrush();
// brush.ImageSource = new BitmapImage(new Uri(pgmMapPath, UriKind.Absolute));
BitmapImage bi = new BitmapImage(new Uri(pgmMapPath, UriKind.Absolute));;
var grayBitmapSource = new FormatConvertedBitmap();
grayBitmapSource.BeginInit();
grayBitmapSource.Source = bi;
grayBitmapSource.DestinationFormat = PixelFormats.Gray32Float;
grayBitmapSource.EndInit();
IplImage canny = BitmapConverter.ToIplImage(BitmapImage2Bitmap(bi));
IplImage img = new IplImage();
Cv.Threshold(canny, canny, 15, 255, ThresholdType.BinaryInv);
IntPtr Dynstorage = CvInvoke.cvCreateMemStorage(0);
IntPtr Dyncontour = new IntPtr();
var contours = new List <IntPtr>();
// Cv.FindContours(canny,contours,0,1);
// CvInvoke.cvFindContours(canny,Dynstorage,ref Dyncontour,8,ContourRetrieval.List,ContourChain.ApproxNone);
Bitmap pp = BitmapConverter.ToBitmap(canny);
brush.ImageSource = bi;// ToBitmapImage(pp);
brush.TileMode = TileMode.None;
brush.ViewportUnits = BrushMappingMode.Absolute;
brush.ViewboxUnits = BrushMappingMode.Absolute;
brush.Stretch = Stretch.None;
brush.AlignmentX = AlignmentX.Left;
brush.AlignmentY = AlignmentY.Top;
RotateTransform pr = new RotateTransform();
//pr.CenterX=100;
// pr.CenterX=100;
// brush.Transform = new MatrixTransform(-1, 0, 0, 1.0d, -1.0d, -1.0d);
brush.Transform = new MatrixTransform(1, 0, 0, -1.0d, 0, 0);
// brush.RelativeTransform = pr;
double largesize = bi.PixelWidth <= bi.PixelHeight ? bi.PixelWidth : bi.PixelHeight;
brush.Viewport = new Rect(-GlobalVariables.ConvertMetertoUnitLength(74.0), GlobalVariables.ConvertMetertoUnitLength(40.6) - largesize, bi.PixelWidth, bi.PixelHeight);
// brush.Viewport = new Rect(-GlobalVariables.ConvertMetertoUnitLength(69.8), GlobalVariables.ConvertMetertoUnitLength(40.1)-largesize, bi.PixelWidth, bi.PixelHeight);
DiffuseMaterial mat = new DiffuseMaterial(brush);
GeometryModel3D gModel3D = new GeometryModel3D {
Geometry = mesh, Material = mat
};
pModelMap.Content = gModel3D;
}
//catch
{
// MessageBox.Show("Error in loading Map");
}
}
private void loadinform(String path)
{
try
{
BitmapImage bi = new BitmapImage(new Uri(TEXT_PATHMAP, UriKind.Absolute));
GlobalVariables.MAP_WIDTHPIXEL = bi.PixelWidth;
GlobalVariables.MAP_HEIGHTPIXEL = bi.PixelHeight;
double largesize = bi.PixelWidth <= bi.PixelHeight ? bi.PixelWidth : bi.PixelHeight; // select the small length of image
//double largesize = 832;
txt_gridwidth.Text = "" + largesize;
txt_gridlength.Text = "" + largesize;
txt_gridmajordistance.Text = "" + (largesize / 40.00).ToString("0.000");
txt_gridminordistance.Text = "" + (largesize / 40.00).ToString("0.000");
txt_borderX.Text = "" + GlobalVariables.MAP_WIDTHPIXEL;
txt_borderY.Text = "" + GlobalVariables.MAP_HEIGHTPIXEL;
GlobalVariables.GRIDLINE_WIDTH = Convert.ToDouble(txt_borderX.Text);
GlobalVariables.GRIDLINE_LENGTH = Convert.ToDouble(txt_borderY.Text);
GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH = largesize / 40;
GlobalVariables.MEASUREMENT_UNITASQUARE_METER = Convert.ToDouble(txt_unitMeterPixel.Text) * GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH;
txt_mappointX.Text = "" + GlobalVariables.MAP_WIDTHPIXEL;
txt_mappointY.Text = "" + GlobalVariables.MAP_HEIGHTPIXEL;
// txt_asquared.Text = "" + GlobalVariables.MEASUREMENT_UNITASQUARE+" (m)";
ModelImporter import = new ModelImporter();
Model3D device = import.Load(GlobalVariables.getPathRobot3DModel());
double Sx = device.Bounds.SizeX / 100; // size in cm to m
//MessageBox.Show("size X:" +Sx);
double Sy = device.Bounds.SizeY / 100;
double Sz = device.Bounds.SizeZ / 100;
GlobalVariables.ROBOT_SCALED = GlobalVariables.ConvertMetertoUnitLength(Sx / 100) / Sx;
richtxt_detailInformation.Document.Blocks.Clear();
String inform = "Detail information: \n";
inform += "+Length of a square: " + GlobalVariables.MEASUREMENT_UNITASQUARE_LENGTH + "\n";
inform += "+Length meter of a squared: " + GlobalVariables.MEASUREMENT_UNITASQUARE_METER + "\n"; /// số ô là 40 ,
inform += "+ Robot size (m): " + Sx.ToString("0.00") + " // " + Sy.ToString("0.00") + " // " + Sz.ToString("0.00") + "\n";
inform += "+ Scaled Robot: " + GlobalVariables.ROBOT_SCALED.ToString("0.00");
richtxt_detailInformation.AppendText(inform);
TEXT_ROBOT_INFOMATION = inform;
}
catch
{
MessageBox.Show("Path is wrong");
}
}
public void createpalletobj(ModelVisual3D ppalletlayer)
{
ppalletlayer.Children.Clear();
pPalletlist.Clear();
CreatePallet pPallet1 = new CreatePallet();
pPallet1.updatePos(GlobalVariables.ConvertMetertoUnitLength(11.2), GlobalVariables.ConvertMetertoUnitLength(-1.23), 0, 180);
pPalletlist.Add(pPallet1);
ppalletlayer.Children.Add(pPallet1.contentlayer);
CreatePallet pPallet2 = new CreatePallet();
pPallet2.updatePos(GlobalVariables.ConvertMetertoUnitLength(12.6), GlobalVariables.ConvertMetertoUnitLength(-1.23), 0, 180);
pPalletlist.Add(pPallet2);
ppalletlayer.Children.Add(pPallet2.contentlayer);
}