public void PointConvertFromTest()
{
PointXYZ point = (PointXYZ)TypeDescriptor.GetConverter(typeof(PointXYZ)).ConvertFrom("1 2 3");
Assert.AreEqual(1, point.X);
Assert.AreEqual(2, point.Y);
Assert.AreEqual(3, point.Z);
}
private void trackBar3_Scroll(object sender, System.EventArgs e)
{
PointXYZ tmp = tChart1.Graphics3D.RotationCenter;
tmp.Z = (int)trackBar3.Value;
tChart1.Graphics3D.RotationCenter = tmp;
tChart1.Invalidate();
}
public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object value, Type destinationType)
{
if (destinationType == typeof(string))
{
PointXYZ point = (PointXYZ)value;
return(point.X + " " + point.Y + " " + point.Z);
}
return(base.ConvertTo(context, culture, value, destinationType));
}
public unsafe void TestCtorWH()
{
using (var cloud = new PointCloudOfXYZ(10, 10))
{
ref PointXYZ foo = ref cloud.At(5, 5);
foo.X = 5;
var ptr = cloud.Data;
Assert.AreEqual(5, ptr[55].X);
}
public static ValueRange <PointXYZ> Limits <TPoint>(this IEnumerable <TPoint> points) where TPoint : IPoint3D
{
if (points == null)
{
return(new ValueRange <PointXYZ>(PointXYZ.Zero, PointXYZ.Zero));
}
var xMin = double.MaxValue;
var yMin = double.MaxValue;
var zMin = double.MaxValue;
var yMax = double.MinValue;
var xMax = double.MinValue;
var zMax = double.MinValue;
foreach (var point in points)
{
if (point.X > xMax)
{
xMax = point.X;
}
if (point.Y > yMax)
{
yMax = point.Y;
}
if (point.Z > yMax)
{
zMax = point.Z;
}
if (point.X < xMin)
{
xMin = point.X;
}
if (point.Y < yMin)
{
yMin = point.Y;
}
if (point.Z < zMin)
{
zMax = point.Z;
}
}
var min = new PointXYZ(xMin, yMin, zMin);
var max = new PointXYZ(xMax, yMax, zMax);
var range = new ValueRange <PointXYZ>(min, max);
return(range);
}
/// <summary>
///
/// </summary>
/// <param name="newPoint"></param>
private void CheckMaxResult(PointXYZ newPoint)
{
PointXYZ minResult = null;
foreach (PointXYZ point in listMaxResult)
{
//Get the minimin value
if (minResult == null)
{
minResult = point;
}
else if (point.Z < minResult.Z)
{
minResult = point;
}
}
if (newPoint.Z > minResult.Z)
{
minResult.X = newPoint.X;
minResult.Y = newPoint.Y;
minResult.Z = newPoint.Z;
}
}
private PointCloudData <T> ParseLines(FileInfo f, int id)
{
_metadata = new PointCloudMetaData();
bool isInitialized = false;
int index = 0;
_startData = false;
T[] points = new T[0];
string[] lines = new string[0];
try
{
lines = File.ReadAllLines(f.FullName);
}
catch (Exception e)
{
UnityEngine.Debug.Log(e.Message);
}
foreach (string line in lines)
{
// Parse metadata
if (!_startData)
{
ParseMetadata(line, ref _metadata);
}
else
{
if (!isInitialized)
{
points = new T[_metadata.pointSize];
isInitialized = true;
}
// Parse vertices
string[] values = line.Split(' ');
if (values.Length != _metadata.numFields)
{
throw new System.Exception("Vertices was not same as fields");
}
float x = 0, y = 0, z = 0;
bool success = float.TryParse(values[0], out x);
success = success && float.TryParse(values[1], out y);
success = success && float.TryParse(values[2], out z);
if (!success)
{
throw new System.Exception("Could not parse a vertex");
}
if (_metadata.field == PointCloudDataType.XYZ)
{
Vector3 pos = new Vector3(x, y, z);
PointXYZ point = new PointXYZ(pos);
points[index++] = (T)point;
}
/*
* else if (_metadata.field == PointCloudDataType.XYZRGB)
* {
* float rgba = float.Parse(values[3]);
* byte r, g, b;
*
* // Unpack packed float - 3 channel
* byte[] colorBytes = BitConverter.GetBytes(rgba);
* r = colorBytes[0];
* g = colorBytes[1];
* b = colorBytes[2];
*
* Vector3 point = new Vector3(x, y, z);
* Color col = new Color(r, g, b);
* points[index++] = new PointXYZRGBA(point, col);
* }
* else if (_metadata.field == PointCloudDataType.XYZRGBA)
* {
* int rgba = int.Parse(values[3]);
* byte r, g, b, a;
*
* // Unpack float - 4 channel
* byte[] colorBytes = BitConverter.GetBytes(rgba);
* r = colorBytes[0];
* g = colorBytes[1];
* b = colorBytes[2];
* a = colorBytes[3];
*
* Vector3 point = new Vector3(x, y, z);
* Color32 col = new Color32(r, g, b, a);
* points[index++] = new PointXYZRGBA(point, col);
* }
*/
}
}
if (points.Length == 0 || points.Length != _metadata.pointSize)
{
throw new System.Exception("Vertices were empty or did not match declared points. Was:" +
points.Length + ", but expected: " + _metadata.pointSize);
}
PointCloudData <T> pcd = new PointCloudData <T>(points, points.Length, _metadata, id);
return(pcd);
}
public static bool CompareTwoPoint(PointXYZ p1, PointXYZ p2)
{
return((p1.X == p2.X && p1.Y == p2.Y && p1.Z == p2.Z) ? true : false);
}
public static extern void std_vector_xyz_insert(IntPtr ptr, IntPtr idx, PointXYZ value);
public static extern void filters_voxelGrid_xyz_setLeafSize(IntPtr ptr, PointXYZ size);
public void Add(PointXYZ point)
{
columns.Add(point);
}
/// <summary>
///
/// </summary>
/// <param name="newPoint"></param>
private void CheckMinMaxResult(PointXYZ newPoint)
{
CheckMaxResult(newPoint);
CheckMinResult(newPoint);
}
public void PointConvertToTest()
{
PointXYZ point = new PointXYZ(1, 2, 3);
Assert.AreEqual("1 2 3", TypeDescriptor.GetConverter(point).ConvertTo(point, typeof(string)));
}
public static extern void std_vector_xyz_at(IntPtr ptr, UIntPtr idx, ref PointXYZ value);
public void PointConvertToTest()
{
PointXYZ point = new PointXYZ(1, 2, 3);
Assert.AreEqual("1 2 3", TypeDescriptor.GetConverter(point).ConvertTo(point, typeof(string)));
}
public static extern void std_vector_xyz_add(IntPtr ptr, PointXYZ value);
public static extern int search_organizedNeighbor_xyz_nearestKSearch(IntPtr ptr, PointXYZ point, int k, VectorOfInt k_indices, VectorOfFloat k_sqr_distances);
private void button3_Click(object sender, EventArgs e)
{
//Filter<PointXYZ> ds = new Filter <PointXYZ>;
PointCloudOfXYZ IN_cloud = new PointCloudOfXYZ();
PointCloudOfXYZ OUT_cloud = new PointCloudOfXYZ();
gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
double tempx = 0;
double tempy = 0;
double tempz = 0;
//listBox1.Items.Clear();
Drawxs = false;
Zcdk = true; //再次读取
// CCValue.thStart = true;
this.openFileDialog1.ShowDialog();
string MyFileName = openFileDialog1.FileName;
if (MyFileName.Trim() == "")
{
return;
}
StreamReader MyReader = null;
try
{
MyReader = new StreamReader(MyFileName, System.Text.Encoding.Default);
string content = MyReader.ReadToEnd();
string[] str = content.Split(new string[] { "\r\n" }, StringSplitOptions.None);
char[] splitchar = new Char[] { ',' };//拆分数组
string[] data1;
for (int i = 0; i < str.Length - 1; i++)
{
data1 = str[i].Split(splitchar);
a.X = float.Parse(data1[0]);
a.Y = float.Parse(data1[1]);
a.Z = float.Parse(data1[2]);
IN_cloud.Add(a);
}
// ABC.SetInputCloud(IN_cloud);
// ABC.MeanK = 20;
// ABC.StdDevMulThresh = (1.0);
// ABC.filter(OUT_cloud);
maxx = new float[IN_cloud.Count];
maxy = new float[IN_cloud.Count];
maxz = new float[IN_cloud.Count];
for (int i = 0; i < IN_cloud.Count - 1; i++)
{
a = IN_cloud.Points[i];
if (a.Z > -1500)
{
continue;
}
else
{
maxx[i] = a.X;
maxy[i] = a.Y;
maxz[i] = a.Z;
tempx += maxx[i];
tempy += maxy[i];
tempz += maxz[i];
}
}
xds = IN_cloud.Count;
_ZBxT = tempx / xds;
_ZByT = tempy / xds;
_ZBzT = tempz / xds;
}
catch (Exception Err)
{
MessageBox.Show("读文本文件发生错误！请检查源文件是否是文本文件？" + Err.Message, "信息提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
IN_cloud.Dispose();
OUT_cloud.Dispose();
GC.Collect();
//ABC.SetInputCloud(cloud);
}
public static extern int search_kdtree_xyz_nearestKSearch(IntPtr ptr, PointXYZ point, int k, VectorOfInt k_indices, VectorOfFloat k_sqr_distances);
