public String findRobobt3Dmodel(String version) { // add more list model 3d Robot return(GlobalVariables.getPathRobot3DModel()); }
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(54.8), GlobalVariables.ConvertMetertoUnitLength(15) - 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"); } }