public static void DrawDetectRectRegion(SharpGL.OpenGL gl_object, DetectedRectRegion DetectField, double ColorR, double ColorG, double ColorB)
{
gl_object.LoadIdentity();
gl_object.Translate(_LX, _LY, _LZ);
gl_object.Rotate(_RoX, 0.0, 1.0, 0.0);
gl_object.Rotate(_RoY, 1.0, 0.0, 0.0);
gl_object.Rotate(_RoZ, 0.0, 0.0, 1.0);
//畫範圍
gl_object.Color(ColorR, ColorG, ColorB);
gl_object.Begin(OpenGL.GL_LINE_STRIP);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ1);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ2);
gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ2);
gl_object.End();
}
public static void Draw3DInformation(SharpGL.OpenGL gl_object, float[] X, float[] Y, float[] Z, DetectedRectRegion DetectField)
{
double MaxDistance = 0;
double r = 0, g = 0, b = 0;
gl_object.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
gl_object.LoadIdentity();
gl_object.Translate(_LX, _LY, _LZ);
gl_object.Rotate(_RoX, 0.0, 1.0, 0.0);
gl_object.Rotate(_RoY, 1.0, 0.0, 0.0);
gl_object.Rotate(_RoZ, 0.0, 0.0, 1.0);
//畫光達自己的位置
gl_object.Begin(OpenGL.GL_TRIANGLES);
gl_object.Color(1.0, 1.0, 1.0);
gl_object.Vertex(-0.2, -0.15, 0);
gl_object.Vertex(0, 0.2, 0);
gl_object.Vertex(0.2, -0.15, 0);
gl_object.End();
drawAxis(gl_object);
//畫D場景
gl_object.Begin(OpenGL.GL_POINTS);
for (int i = 0; i < 23040; i++)
{
if (DetectField.DetectRegionX1 < X[i] && X[i] < DetectField.DetectRegionX2 && DetectField.DetectRegionY1 < Y[i] && Y[i] < DetectField.DetectRegionY2 && DetectField.DetectRegionZ1 < Z[i] && Z[i] < DetectField.DetectRegionZ2)
{
continue;
}
if (X[i] != 0 && Y[i] != 0 && Z[i] != 0)
{
//用XY距離計算顯示顏色
double XYDistance = Math.Sqrt(X[i] * X[i] + Y[i] * Y[i]);
if (XYDistance > MaxDistance)
{
MaxDistance = XYDistance;
}
if (XYDistance > 10)
{
XYDistance = 10;
}
XYDistance = XYDistance / 10 * (360 - 30) + 30;
HsvToRgb(XYDistance, 1, 1, out r, out g, out b);
gl_object.Color(r, g, b);
//畫上點座標
gl_object.Vertex(X[i], Y[i], Z[i]);
}
}
gl_object.End();
gl_object.Flush();
}
