/// <summary>
/// Do the task
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
source.Sort();
int count = source.Count;
int ParallelCount = Settings.Get <Settings>().Read(Settings.SYSTEM, Settings.MAXTHREADS, 8);
UpdatePercent(0, ret);
if (LaunchParallel)
{
int doneCount = 0;
Parallel.For(0, count, new ParallelOptions {
MaxDegreeOfParallelism = ParallelCount
}, i =>
{
if (this.CancelPending)
{
return;
}
ScanLine line = DoTask(source[i]);
if (line != null)
{
//line.DisplayAsLine = source[i].DisplayAsLine;
lock (ret)
{
ret.Add(line);
}
doneCount++;
{
int percent = (int)((100 * doneCount) / count);
if (percent % 10 == 0)
{
UpdatePercent(percent, ret);
}
}
}
}
);
}
else
{
for (int i = 0; i < count; i++)
{
if (this.CancelPending)
{
return(ret);
}
ScanLine line = DoTask(source[i]);
if (line != null)
{
ret.Add(line);
}
UpdatePercent((int)(100 * i / count), ret);
}
}
UpdatePercent(100, ret);
return(ret);
}
public override ScanData DoTask(ScanData source)
{
ScanData step1 = base.DoTask(source);
step1.Sort(); //SORT
Dictionary<string, ScanLine> step2 = new Dictionary<string, ScanLine>();
for (int i = 0; i < step1.Count; i++)
{
ScanLine line = step1[i];
if (line.Count > 0)
{
for (int c = 0; c < NumClass; c++)
{
string key = string.Format("{0}->{1}", line.LaserID, c);
if (!step2.ContainsKey(key))
step2[key] = new ScanLine(line.LaserID, NumClass);
step2[key].Add(GetSample(line, NumClass, c));
}
//step2[line.LaserID].Add(line[0]);
}
}
ScanData step3 = new ScanData(step2.Keys.Count);
for (int i = 0; i < step2.Keys.Count; i++)
{
string k = step2.Keys.ElementAt(i);
step3.Add(step2[k]);
}
return step3;
}
public override ScanData DoTask(ScanData source)
{
ScanData step1 = base.DoTask(source);
step1.Sort(); //SORT
Dictionary <string, ScanLine> step2 = new Dictionary <string, ScanLine>();
for (int i = 0; i < step1.Count; i++)
{
ScanLine line = step1[i];
if (line.Count > 0)
{
for (int c = 0; c < NumClass; c++)
{
string key = string.Format("{0}->{1}", line.LaserID, c);
if (!step2.ContainsKey(key))
{
step2[key] = new ScanLine(line.LaserID, NumClass);
}
step2[key].Add(GetSample(line, NumClass, c));
}
//step2[line.LaserID].Add(line[0]);
}
}
ScanData step3 = new ScanData(step2.Keys.Count);
for (int i = 0; i < step2.Keys.Count; i++)
{
string k = step2.Keys.ElementAt(i);
step3.Add(step2[k]);
}
return(step3);
}
public override ScanData DoTask(ScanData source)
{
source.Sort();
ScanData ret = source;
Dictionary<int, ScanData> laserScanData = new Dictionary<int, ScanData>();
UpdatePercent(0, ret);
ret = new ScanData();
int count = source.Count ;
double delta_angle = DeltaAngle;
int step = (int)((count * delta_angle) / 360.0);
for (double ang = 0; ang < 360; ang += delta_angle)
{
int biggestIndex = 0;
int biggestCount = 0;
List<ScanLine> lines = GetScanlinesByAngle(ang, ang + delta_angle, source);
for (int j = 0; j < lines.Count; j++)
{
ScanLine l = lines[j];
int cnt = l.Count;
if (biggestCount < cnt)
{
biggestCount = cnt;
biggestIndex = j;
}
}
if(lines.Count>0)
ret.Add(AverageLines(biggestCount,biggestIndex, lines));
UpdatePercent((int)(100 * ang/360), ret);
}
UpdatePercent(100, ret);
return ret;
}
/// <summary>
/// Do the task function override
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
UpdatePercent(0, ret);
source.Sort();
int count = source.Count;
//count = 2;
//primitiveType = PrimitiveType.LineStrip;
ScanLine top = new ScanLine(count);
ScanLine bottom = new ScanLine(count);
ScanLine prev = source[0];
top.Add(prev.First());
bottom.Add(prev.Last());
for (int i = 1; i <= count; i++)
{
if (this.CancelPending)
{
return(source);
}
ScanLine current = source[i % count];
StripResult strip = CreateStrip(prev, current);
top.Add(strip.Current.First());
bottom.Add(strip.Current.Last());
prev = strip.Current;
ret.Add(strip.Result);
UpdatePercent((int)((100 * i) / count), ret);
}
if (count <= 2)
{
return(ret);
}
Point3D topcenter = Point3D.Average(top);
Point3D bottomcenter = Point3D.Average(bottom);
for (int i = 0; i < ret.Count; i++)
{
ret[i].Insert(0, topcenter);
ret[i].Add(bottomcenter);
AdjustNormalFromTriangleStrip(ret[i]);
}
UpdatePercent(100, ret);
return(ret);
}
/// <summary>
/// Do the task
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
source.Sort();
int count = source.Count;
int ParallelCount = Settings.Get<Settings>().Read(Settings.SYSTEM, Settings.MAXTHREADS, 8);
UpdatePercent(0, ret);
if (LaunchParallel)
{
int doneCount = 0;
Parallel.For(0, count, new ParallelOptions { MaxDegreeOfParallelism = ParallelCount }, i =>
{
if (this.CancelPending) return;
ScanLine line = DoTask(source[i]);
if (line != null)
{
//line.DisplayAsLine = source[i].DisplayAsLine;
lock (ret)
{
ret.Add(line);
}
doneCount++;
{
int percent = (int)((100 * doneCount) / count);
if (percent % 10 == 0)
UpdatePercent(percent, ret);
}
}
}
);
}
else
{
for (int i = 0; i < count; i++)
{
if (this.CancelPending) return ret;
ScanLine line = DoTask(source[i]);
if (line != null)
ret.Add(line);
UpdatePercent((int)(100 * i / count), ret);
}
}
UpdatePercent(100, ret);
return ret;
}
public override ScanData DoTask(ScanData source)
{
ScanData ret = source;
Dictionary <int, ScanData> laserScanData = new Dictionary <int, ScanData>();
UpdatePercent(0, ret);
for (int i = 0; i < source.Count; i++)
{
ScanLine currentLine = source[i];
ScanData data = laserScanData.ContainsKey(currentLine.LaserID) ? laserScanData[currentLine.LaserID] : new ScanData();
data.Add(currentLine);
laserScanData[currentLine.LaserID] = data;
}
if (laserScanData.Keys.Count >= 1)
{
List <ScanData> datas = new List <ScanData>(laserScanData.Values);
int maxSamplePoints = 10000;
for (int i = 0; i < datas.Count; i++)
{
maxSamplePoints = Math.Min(maxSamplePoints, datas[i].PointCount());
}
//ICP.ICP icp = new ICP.ICP(maxSamplePoints/2, 0.001f, 10);
ICP.IterativeClosestPointTransform icp = new ICP.IterativeClosestPointTransform();
icp.NumberOfIterations = 1000;
icp.NumberOfStartTrialPoints = maxSamplePoints / 2;
ICP.IterativeClosestPointTransform.SimulatedAnnealing = false;
ICP.IterativeClosestPointTransform.DistanceOptimization = true;
Point3DList refpoints = CreateListFromScanData(datas[0]);
for (int i = 1; i < datas.Count; i++)
{
Point3DList points = CreateListFromScanData(datas[i]);
Matrix4d mat = icp.PerformICP(refpoints, points);
datas[i].Transform(mat);
//icp.Run(points, refpoints);
UpdatePercent((int)(100f * i / datas.Count), ret);
}
}
UpdatePercent(100, ret);
return(ret);
}
public override ScanData DoTask(ScanData source)
{
source.Sort();
ScanData ret = source;
Dictionary <int, ScanData> laserScanData = new Dictionary <int, ScanData>();
UpdatePercent(0, ret);
ret = new ScanData();
int count = source.Count;
double delta_angle = DeltaAngle;
int step = (int)((count * delta_angle) / 360.0);
for (double ang = 0; ang < 360; ang += delta_angle)
{
int biggestIndex = 0;
int biggestCount = 0;
List <ScanLine> lines = GetScanlinesByAngle(ang, ang + delta_angle, source);
for (int j = 0; j < lines.Count; j++)
{
ScanLine l = lines[j];
int cnt = l.Count;
if (biggestCount < cnt)
{
biggestCount = cnt;
biggestIndex = j;
}
}
if (lines.Count > 0)
{
ret.Add(AverageLines(biggestCount, biggestIndex, lines));
}
UpdatePercent((int)(100 * ang / 360), ret);
}
UpdatePercent(100, ret);
return(ret);
}
public override ScanData DoTask(ScanData source)
{
ScanData ret = source;
Dictionary <int, ScanData> laserScanData = new Dictionary <int, ScanData>();
UpdatePercent(0, ret);
for (int i = 0; i < source.Count; i++)
{
ScanLine currentLine = source[i];
ScanData data = laserScanData.ContainsKey(currentLine.LaserID)?laserScanData[currentLine.LaserID]: new ScanData();
data.Add(currentLine);
laserScanData[currentLine.LaserID] = data;
}
int masterLaserId = -1;
foreach (int lId in laserScanData.Keys)
{
if (masterLaserId == -1)
{
masterLaserId = lId;
}
else if (laserScanData[masterLaserId].Count < laserScanData[lId].Count)
{
masterLaserId = lId;
}
laserScanData[lId].Sort();
}
ret = new ScanData();
ScanData master = laserScanData[masterLaserId];
double maxAngle = 180f / master.Count;
for (int i = 0; i < master.Count; i++)
{
List <ScanLine> lines = new List <ScanLine>(laserScanData.Keys.Count);
double currentAngle = master[i].Angle;
int currentCount = master[i].Count;
int biggestIndex = 0;
lines.Add(master[i]);
foreach (int key in laserScanData.Keys)
{
if (key != masterLaserId)
{
ScanLine currentLine = laserScanData[key].GetNearestLine(currentAngle);
if (currentLine == null)
{
continue;
}
if (maxAngle > Math.Abs(Utils.DeltaAngle(currentAngle, currentLine.Angle)))
{
if (currentCount < currentLine.Count)
{
currentCount = currentLine.Count;
biggestIndex = lines.Count;
}
lines.Add(currentLine);
}
}
}
ret.Add(AverageLines(currentCount, biggestIndex, lines));
}
UpdatePercent(100, ret);
return(ret);
}
/// <summary>
/// Read ScanData File
/// </summary>
/// <param name="file"></param>
/// <returns></returns>
public static ScanData Read(string file)
{
ScanData ret = new ScanData();
using (StreamReader r = System.IO.File.OpenText(file))
{
string line = r.ReadLine();
string[] part = line.Split(":".ToArray());
int slicecount = int.Parse(part[1]);
for (int i = 0; i < slicecount; i++)
{
line = r.ReadLine();
part = line.Split(":".ToArray());
ScanLine slice = new ScanLine((int)double.Parse(part[1]));
line = r.ReadLine();
part = line.Split(":".ToArray());
if (part[0] == "DrawAs")
{
OpenTK.Graphics.OpenGL.PrimitiveType primitive = OpenTK.Graphics.OpenGL.PrimitiveType.Points;
Enum.TryParse<OpenTK.Graphics.OpenGL.PrimitiveType>(part[1], true, out primitive);
switch (primitive)
{
case OpenTK.Graphics.OpenGL.PrimitiveType.TriangleStrip:
{
slice = new ScanSlice(10000);
break;
}
case OpenTK.Graphics.OpenGL.PrimitiveType.LineStrip:
{
slice.DisplayAsLine = true;
break;
}
default:
{
slice.DisplayAsLine = false;
break;
}
}
line = r.ReadLine();
part = line.Split(":".ToArray());
}
int pointcount = int.Parse(part[1]);
for (int j = 0; j < pointcount; j++)
{
line = r.ReadLine();
part = line.Split("|".ToArray());
Vector3d pos = GetVector(part[0]);
Vector3d normal = pos.Normalized();
try
{
normal = GetVector(part[1]);
}
catch { }
Color color = System.Drawing.ColorTranslator.FromHtml(part[2]);
Point3D p = new Point3D(pos, normal, color);
slice.Add(p);
}
ret.Add(slice);
}
}
return ret;
}
/// <summary>
/// Read ScanData File
/// </summary>
/// <param name="file"></param>
/// <returns></returns>
public static ScanData Read(string file)
{
ScanData ret = new ScanData();
using (StreamReader r = System.IO.File.OpenText(file))
{
string line = r.ReadLine();
string[] part = line.Split(":".ToArray());
int slicecount = int.Parse(part[1]);
for (int i = 0; i < slicecount; i++)
{
line = r.ReadLine();
part = line.Split(":".ToArray());
ScanLine slice = new ScanLine((int)double.Parse(part[1]));
line = r.ReadLine();
part = line.Split(":".ToArray());
if (part[0] == "DrawAs")
{
OpenTK.Graphics.OpenGL.PrimitiveType primitive = OpenTK.Graphics.OpenGL.PrimitiveType.Points;
Enum.TryParse <OpenTK.Graphics.OpenGL.PrimitiveType>(part[1], true, out primitive);
switch (primitive)
{
case OpenTK.Graphics.OpenGL.PrimitiveType.TriangleStrip:
{
slice = new ScanSlice(10000);
break;
}
case OpenTK.Graphics.OpenGL.PrimitiveType.LineStrip:
{
slice.DisplayAsLine = true;
break;
}
default:
{
slice.DisplayAsLine = false;
break;
}
}
line = r.ReadLine();
part = line.Split(":".ToArray());
}
int pointcount = int.Parse(part[1]);
for (int j = 0; j < pointcount; j++)
{
line = r.ReadLine();
part = line.Split("|".ToArray());
Vector3d pos = GetVector(part[0]);
Vector3d normal = pos.Normalized();
try
{
normal = GetVector(part[1]);
}
catch { }
Color color = System.Drawing.ColorTranslator.FromHtml(part[2]);
Point3D p = new Point3D(pos, normal, color);
slice.Add(p);
}
ret.Add(slice);
}
}
return(ret);
}
public override ScanData DoTask(ScanData source)
{
ScanData ret = source;
Dictionary<int, ScanData> laserScanData = new Dictionary<int, ScanData>();
UpdatePercent(0, ret);
for (int i = 0; i < source.Count; i++)
{
ScanLine currentLine = source[i];
ScanData data = laserScanData.ContainsKey(currentLine.LaserID)?laserScanData[currentLine.LaserID]: new ScanData();
data.Add(currentLine);
laserScanData[currentLine.LaserID] = data;
}
int masterLaserId = -1;
foreach (int lId in laserScanData.Keys)
{
if (masterLaserId == -1)
masterLaserId = lId;
else if (laserScanData[masterLaserId].Count < laserScanData[lId].Count)
masterLaserId = lId;
laserScanData[lId].Sort();
}
ret = new ScanData();
ScanData master = laserScanData[masterLaserId];
double maxAngle = 180f / master.Count;
for (int i = 0; i < master.Count; i++)
{
List<ScanLine> lines = new List<ScanLine>(laserScanData.Keys.Count);
double currentAngle = master[i].Angle;
int currentCount = master[i].Count;
int biggestIndex = 0;
lines.Add(master[i]);
foreach (int key in laserScanData.Keys)
{
if (key != masterLaserId)
{
ScanLine currentLine = laserScanData[key].GetNearestLine(currentAngle);
if (currentLine == null)
continue;
if (maxAngle > Math.Abs(Utils.DeltaAngle(currentAngle,currentLine.Angle)))
{
if (currentCount < currentLine.Count)
{
currentCount = currentLine.Count;
biggestIndex = lines.Count;
}
lines.Add(currentLine);
}
}
}
ret.Add(AverageLines(currentCount,biggestIndex, lines));
}
UpdatePercent(100, ret);
return ret;
}
/// <summary>
/// Do the task function override
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
UpdatePercent(0, ret);
source.Sort();
int count = source.Count;
//count = 2;
//primitiveType = PrimitiveType.LineStrip;
ScanLine top = new ScanLine(count);
ScanLine bottom = new ScanLine(count);
ScanLine prev = source[0];
top.Add(prev.First());
bottom.Add(prev.Last());
for (int i = 1; i <= count; i++)
{
if (this.CancelPending) return source;
ScanLine current = source[i % count];
StripResult strip = CreateStrip(prev, current);
top.Add(strip.Current.First());
bottom.Add(strip.Current.Last());
prev = strip.Current;
ret.Add(strip.Result);
UpdatePercent((int)((100 * i) / count), ret);
}
if (count <= 2)
return ret;
Point3D topcenter = Point3D.Average(top);
Point3D bottomcenter = Point3D.Average(bottom);
for (int i = 0; i < ret.Count; i++)
{
ret[i].Insert(0, topcenter);
ret[i].Add(bottomcenter);
AdjustNormalFromTriangleStrip(ret[i]);
}
UpdatePercent(100, ret);
return ret;
}
public override ScanData DoTask(ScanData source)
{
if (!HardwareAvailable)
throw new Exception(string.Format("HardWare missing : TURNTABLE:{0} LASER:{1} CAMERA:{2}", HardwarePresentTrace(TurnTable), HardwarePresentTrace(Laser), HardwarePresentTrace(Camera)));
RotationStep = (double)Math.Round(TurnTable.MinimumRotation() + (15f - TurnTable.MinimumRotation()) * ((100 - Precision) / 100f), 2);
Settings settings = Settings.Get<Settings>();
CameraLoc.X = settings.Read(Settings.CAMERA, Settings.X, 0f);
CameraLoc.Y = settings.Read(Settings.CAMERA, Settings.Y, 270f);
CameraLoc.Z = settings.Read(Settings.CAMERA, Settings.Z, 70f);
double thres = settings.Read(Settings.LASER_COMMON, Settings.MAGNITUDE_THRESHOLD, 10);
int min = settings.Read(Settings.LASER_COMMON, Settings.MIN_WIDTH, 1);
int max = settings.Read(Settings.LASER_COMMON, Settings.MAX_WIDTH, 60);
ICameraProxy camera = Settings.Get<ICameraProxy>();
ImageProcessor = new ImageProcessor(thres, min, max);
SizeF tableSize = new SizeF(
(float)settings.Read(Settings.TABLE, Settings.DIAMETER, 20f),
(float)settings.Read(Settings.TABLE, Settings.HEIGHT, 15f)
);
Lasers = new List<LaserInfo>(LaserId.Length);
for (int i = 0; i < LaserId.Length; i++)
{
Lasers.Add(new LaserInfo(LaserId[i], CameraLoc, tableSize));
}
ScanData ret = new ScanData();
UpdatePercent(0, ret);
int fadeTime = settings.Read(Settings.LASER_COMMON, Settings.FADE_DELAY, 100);
TurnTable.InitialiseRotation();
int laserCount = Lasers.Count;
// Scan all laser location,
for (double currentAngle = 0; currentAngle < 360f; currentAngle += RotationStep)
{
if (this.CancelPending) return ret;
Laser.TurnAll(false); // All laser off
Thread.Sleep(fadeTime); // wait fade laser
Bitmap imgoff = GetCapture();
for (int laserIndex = 0; laserIndex < laserCount; laserIndex++)
{
Laser.Turn(Lasers[laserIndex].Id, true);
Thread.Sleep(fadeTime); // wait fade laser
Bitmap imgon = GetCapture();
Laser.Turn(Lasers[laserIndex].Id, false);
List<PointF> laserloc = ImageProcessor.Process(imgoff,imgon,null);
Point3DList samplePoints = Lasers[laserIndex].MapPoints(laserloc, UseTexture ? imgoff : null, UseCorrectionMatrix);
PositionPostProcess(ref samplePoints, -Utils.DEGREES_TO_RADIANS(currentAngle));
ScanLine line = new ScanLine(laserIndex, samplePoints);
line.DisplayAsLine = true;
ret.Add(line);
}
int percent = (int)((currentAngle / 360f) * 100f);
UpdatePercent(percent, ret);
TurnTable.Rotate(currentAngle, false);
}
LineSort lineSort = new LineSort();
ret = lineSort.Run(ret, CallerControl, this.Worker, this.WorkerArg);
if (!string.IsNullOrEmpty(FileName))
{
string path = Path.Combine(Program.UserDataPath, FileName);
ScanDataIO.Write(path, ret);
}
return ret;
}