//method for bernard
public PointCloud getSubRegion(double[] points)
{
//check subregion is actually a sub region
if (points[0] < this.minx)
{
throw new SubRegionOutOfBoundsException("xmin");
}
if (points[1] < this.miny)
{
throw new SubRegionOutOfBoundsException("ymin");
}
if (points[2] < this.minz)
{
throw new SubRegionOutOfBoundsException("zmin");
}
if (points[3] > this.maxx)
{
throw new SubRegionOutOfBoundsException("xmax");
}
if (points[4] > this.maxy)
{
throw new SubRegionOutOfBoundsException("ymax");
}
if (points[5] > this.maxz)
{
throw new SubRegionOutOfBoundsException("zmax");
}
double[] pointMin = { points[0], points[1], points[2] };
double[] pointMax = { points[3], points[4], points[5] };
System.Diagnostics.Debug.WriteLine("Limb Min: " + points[0] + " " + points[1] + " " + points[2]);
System.Diagnostics.Debug.WriteLine("PC Min: " + this.minx + " " + this.miny + " " + this.minz);
System.Diagnostics.Debug.WriteLine("Limb Max: " + points[3] + " " + points[4] + " " + points[5]);
System.Diagnostics.Debug.WriteLine("PC Max: " + this.maxx + " " + this.maxy + " " + this.maxz);
Object[] temp = this.points.range(pointMin, pointMax);
List <Point3D> output = new List <Point3D>();
for (int i = 0; i < temp.Length; i++)
{
output.Add(((PointRGB)(temp[i])).point);
}
PointCloud pc = new PointCloud(output);
System.Diagnostics.Debug.WriteLine(pc.getAllPoints().Length);
return(pc);
}
public GroupVisualiser(PointCloud pc)
{
//Constructor 1: construct point cloud as a single entity.
mesh = new MeshGeometry3D();
textureCoordinates = new Point[depthFrameHeight * depthFrameWidth];
//get all points from the point cloud
prgbs = pc.getAllPoints();
//resize the depthframe array (for efficiency)
depthFramePoints = new Point3D[prgbs.Length];
}
public GroupVisualiser(PointCloud pc)
{
//Constructor 1: construct point cloud as a single entity.
mesh = new MeshGeometry3D();
textureCoordinates = new Point[depthFrameHeight * depthFrameWidth];
//get all points from the point cloud
prgbs = pc.getAllPoints();
//resize the depthframe array (for efficiency)
depthFramePoints = new Point3D[prgbs.Length];
}
//method for bernard
public PointCloud getSubRegion(double[] points)
{
//check subregion is actually a sub region
if (points[0] < this.minx)
{
throw new SubRegionOutOfBoundsException("xmin");
}
if (points[1] < this.miny)
{
throw new SubRegionOutOfBoundsException("ymin");
}
if (points[2] < this.minz)
{
throw new SubRegionOutOfBoundsException("zmin");
}
if (points[3] > this.maxx)
{
throw new SubRegionOutOfBoundsException("xmax");
}
if (points[4] > this.maxy)
{
throw new SubRegionOutOfBoundsException("ymax");
}
if (points[5] > this.maxz)
{
throw new SubRegionOutOfBoundsException("zmax");
}
double[] pointMin = { points[0], points[1], points[2] };
double[] pointMax = { points[3], points[4], points[5] };
System.Diagnostics.Debug.WriteLine("Limb Min: " + points[0] + " " + points[1] + " " + points[2]);
System.Diagnostics.Debug.WriteLine("PC Min: " + this.minx + " " + this.miny + " " + this.minz);
System.Diagnostics.Debug.WriteLine("Limb Max: " + points[3] + " " + points[4] + " " + points[5]);
System.Diagnostics.Debug.WriteLine("PC Max: " + this.maxx + " " + this.maxy + " " + this.maxz);
Object[] temp = this.points.range(pointMin, pointMax);
List<Point3D> output = new List<Point3D>();
for (int i = 0; i < temp.Length; i++) {
output.Add(((PointRGB)(temp[i])).point);
}
PointCloud pc = new PointCloud(output);
System.Diagnostics.Debug.WriteLine(pc.getAllPoints().Length);
return pc;
}
private void OpenGLControl_OpenGLDraw(object sender, SharpGL.SceneGraph.OpenGLEventArgs args)
{
// Get the OpenGL instance that's been passed to us.
OpenGL gl = args.OpenGL;
// Clear the color and depth buffers.
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
// Reset the modelview matrix.
gl.LoadIdentity();
// Move the geometry into a fairly central position.
gl.Translate(0.0f, 0.0f, -6.0f);
// Draw a pyramid. First, rotate the modelview matrix.
gl.Rotate(rotatePyramid, 0.0f, 1.0f, 0.0f);
// Start drawing discrete points
gl.Begin(OpenGL.GL_POINTS);
ICP.PointRGB[] allPoints = pcdl.getAllPoints();
for (int i = 0; i < pcdl.size(); i++)
{
gl.Vertex(allPoints[i].point.X, allPoints[i].point.Y, allPoints[i].point.Z);
gl.Color(0.0f, 1.0f, 0.0f);
}
//Start looping over all points from the point cloud.
/*gl.Color(1.0f, 0.0f, 0.0f);
* gl.Vertex(0.0f, 1.0f, 0.0f);
* gl.Color(0.0f, 1.0f, 0.0f);
* gl.Vertex(-1.0f, -1.0f, 1.0f);
* gl.Color(0.0f, 0.0f, 1.0f);
* gl.Vertex(1.0f, -1.0f, 1.0f);*/
if (pcdl != null)
{
System.Diagnostics.Debug.WriteLine("Size of pc: " + pcdl.size());
}
/*gl.Color(1.0f, 0.0f, 0.0f);
* gl.Vertex(0.0f, 1.0f, 0.0f);
* gl.Color(0.0f, 0.0f, 1.0f);
* gl.Vertex(1.0f, -1.0f, 1.0f);
* gl.Color(0.0f, 1.0f, 0.0f);
* gl.Vertex(1.0f, -1.0f, -1.0f);
*
* gl.Color(1.0f, 0.0f, 0.0f);
* gl.Vertex(0.0f, 1.0f, 0.0f);
* gl.Color(0.0f, 1.0f, 0.0f);
* gl.Vertex(1.0f, -1.0f, -1.0f);
* gl.Color(0.0f, 0.0f, 1.0f);
* gl.Vertex(-1.0f, -1.0f, -1.0f);
*
* gl.Color(1.0f, 0.0f, 0.0f);
* gl.Vertex(0.0f, 1.0f, 0.0f);
* gl.Color(0.0f, 0.0f, 1.0f);
* gl.Vertex(-1.0f, -1.0f, -1.0f);
* gl.Color(0.0f, 1.0f, 0.0f);
* gl.Vertex(-1.0f, -1.0f, 1.0f);*/
gl.PointSize(10.0f);
gl.End();
// Flush OpenGL.
gl.Flush();
// Rotate the geometry a bit.
rotatePyramid += 3.0f;
}
