/// <summary>
/// creates three bitmaps based on a point cloud
/// </summary>
/// <param name="pInputCloud">the point cloud</param>
/// <param name="pHeight">the height of the bitmap</param>
/// <param name="pWidth">the width of the bitmap</param>
/// <returns>the picture package containing top, bottom and front view</returns>
public static PointCloudPicturePackage createPointCloudPicturePackageFromPointCloud(PointCloud pInputCloud, int pHeight, int pWidth)
{
//create data objects
PointCloudPicturePackage resPack = new PointCloudPicturePackage();
resPack.sideview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
resPack.bottomview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
resPack.frontview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
//clear bitmap and set initial color value
resPack.sideview.Clear(System.Windows.Media.Colors.White);
resPack.bottomview.Clear(System.Windows.Media.Colors.White);
resPack.frontview.Clear(System.Windows.Media.Colors.White);
//find absolute borders for point cloud
PointCloudBorderPackage pcbp = findBordersAbsolute(pInputCloud);
resPack.borders = pcbp;
//draw stuff
foreach (Point p in pInputCloud.pointcloud_hs)
{
//calculate relative location by norming: 0 <= x,y,z <= 1
float x, y, z;
x = (p.point.X + Math.Abs(pcbp.xmin)) / (Math.Abs(pcbp.xmax) + Math.Abs(pcbp.xmin));
y = (p.point.Y + Math.Abs(pcbp.ymin)) / (Math.Abs(pcbp.ymax) + Math.Abs(pcbp.ymin));
z = (p.point.Z + Math.Abs(pcbp.zmin)) / (Math.Abs(pcbp.zmax) + Math.Abs(pcbp.zmin));
if (!(x >= 1 || y >= 1 || z >= 1))
{
//draw picture: x,y for front; x,z for bottom; z,y for side;
resPack.frontview.SetPixel((int)(x * pWidth), (int)(y * pHeight), System.Windows.Media.Colors.DarkRed);
resPack.bottomview.SetPixel((int)(x * pWidth), (int)(z * pHeight), System.Windows.Media.Colors.DarkRed);
resPack.sideview.SetPixel((int)(z * pWidth), (int)(y * pHeight), System.Windows.Media.Colors.DarkRed);
}
}
//return
resPack.bottomview.Freeze(); resPack.frontview.Freeze(); resPack.sideview.Freeze();
return(resPack);
}
/// <summary>
/// takes an existing PointCloudPictures package and adds a visible plane onto it
/// </summary>
/// <param name="pPictures">the picture package</param>
/// <param name="pPoints">the plane model</param>
/// <returns>plane drawn onto the pictures</returns>
public static PointCloudPicturePackage addTriangleToPicturePackage(PointCloudPicturePackage pPictures, List <List <Point> > pPoints)
{
//create writeable clones
WriteableBitmap bottomview = pPictures.bottomview.Clone();
WriteableBitmap frontview = pPictures.frontview.Clone();
WriteableBitmap sideview = pPictures.sideview.Clone();
foreach (List <Point> p in pPoints)
{
//calculate relative pose of plane points with 0 <= x,y,z <= 1
float x1, y1, z1, x2, y2, z2, x3, y3, z3;//, x4, y4, z4;
x1 = (p[0].point.X + Math.Abs(pPictures.borders.xmin)) / (Math.Abs(pPictures.borders.xmax) + Math.Abs(pPictures.borders.xmin));
y1 = (p[0].point.Y + Math.Abs(pPictures.borders.ymin)) / (Math.Abs(pPictures.borders.ymax) + Math.Abs(pPictures.borders.ymin));
z1 = (p[0].point.Z + Math.Abs(pPictures.borders.zmin)) / (Math.Abs(pPictures.borders.zmax) + Math.Abs(pPictures.borders.zmin));
x2 = (p[1].point.X + Math.Abs(pPictures.borders.xmin)) / (Math.Abs(pPictures.borders.xmax) + Math.Abs(pPictures.borders.xmin));
y2 = (p[1].point.Y + Math.Abs(pPictures.borders.ymin)) / (Math.Abs(pPictures.borders.ymax) + Math.Abs(pPictures.borders.ymin));
z2 = (p[1].point.Z + Math.Abs(pPictures.borders.zmin)) / (Math.Abs(pPictures.borders.zmax) + Math.Abs(pPictures.borders.zmin));
x3 = (p[2].point.X + Math.Abs(pPictures.borders.xmin)) / (Math.Abs(pPictures.borders.xmax) + Math.Abs(pPictures.borders.xmin));
y3 = (p[2].point.Y + Math.Abs(pPictures.borders.ymin)) / (Math.Abs(pPictures.borders.ymax) + Math.Abs(pPictures.borders.ymin));
z3 = (p[2].point.Z + Math.Abs(pPictures.borders.zmin)) / (Math.Abs(pPictures.borders.zmax) + Math.Abs(pPictures.borders.zmin));
/*
* //in case of tetrahedron and not triangle
* if(p.Count > 3)
* {
* x4 = (p[3].point.X + Math.Abs(pPictures.borders.xmin)) / (Math.Abs(pPictures.borders.xmax) + Math.Abs(pPictures.borders.xmin));
* y4 = (p[3].point.Y + Math.Abs(pPictures.borders.ymin)) / (Math.Abs(pPictures.borders.ymax) + Math.Abs(pPictures.borders.ymin));
* z4 = (p[3].point.Z + Math.Abs(pPictures.borders.zmin)) / (Math.Abs(pPictures.borders.zmax) + Math.Abs(pPictures.borders.zmin));
* }*/
//draw triangles
bottomview.FillTriangle((int)(x1 * bottomview.Width), (int)(z1 * bottomview.Height),
(int)(x2 * bottomview.Width), (int)(z2 * bottomview.Height),
(int)(x3 * bottomview.Width), (int)(z3 * bottomview.Height), Colors.DarkGreen);
frontview.FillTriangle((int)(x1 * frontview.Width), (int)(y1 * frontview.Height),
(int)(x2 * frontview.Width), (int)(y2 * frontview.Height),
(int)(x3 * frontview.Width), (int)(y3 * frontview.Height), Colors.DarkGreen);
sideview.FillTriangle((int)(z1 * sideview.Width), (int)(y1 * sideview.Height),
(int)(z2 * sideview.Width), (int)(y2 * sideview.Height),
(int)(z3 * sideview.Width), (int)(y3 * sideview.Height), Colors.DarkGreen);
}
;
//freeze
bottomview.Freeze();
frontview.Freeze();
sideview.Freeze();
//create package
PointCloudPicturePackage package = new PointCloudPicturePackage();
package.borders = pPictures.borders;
package.bottomview = bottomview;
package.frontview = frontview;
package.sideview = sideview;
//return
return(package);
}
