//private void Stitch()
//{
// AccordStitchForm accordStitch = new AccordStitchForm();
// accordStitch.ShowDialog();
// pointsLeft = accordStitch.PointsLeft;
// pointsRight = accordStitch.PointsRight;
//}
public void ShowICPResults(List <Vertex> myVerticesTarget, List <Vertex> myVerticesSource, List <Vertex> myTransformPoints, bool changeColor)
{
this.OpenGLControl.RemoveAllModels();
//target in green
List <float[]> myColors = PointCloudUtils.CreateColorList(myVerticesTarget.Count, 0, 255, 0, 255);
if (myVerticesTarget != null)
{
if (changeColor)
{
Vertices.SetColorToList(myVerticesTarget, myColors);
}
this.OpenGLControl.ShowPointCloud("ICP Target", myVerticesTarget);
}
if (myVerticesSource != null)
{
//source in white
myColors = PointCloudUtils.CreateColorList(myVerticesSource.Count, 255, 255, 255, 255);
if (changeColor)
{
Vertices.SetColorToList(myVerticesSource, myColors);
}
this.OpenGLControl.ShowPointCloud("ICP To be matched", myVerticesSource);
}
if (myTransformPoints != null)
{
//transformed in red
myColors = PointCloudUtils.CreateColorList(myTransformPoints.Count, 255, 0, 0, 255);
Vertices.SetColorToList(myTransformPoints, myColors);
this.OpenGLControl.ShowPointCloud("ICP Solution", myTransformPoints);
}
}
private List <Vertex> ICPOnPoints_WithSubset_PointsData(List <List <Vertex> > PointsDataList, List <System.Drawing.Point> pointsLeft, List <System.Drawing.Point> pointsRight)
{
List <Vertex> myPointsTarget = PointsDataList[0];
List <Vertex> mypointsSource = PointsDataList[1];
if (PointsDataList.Count > 1)
{
if (pointsLeft != null)
{
List <Vertex> mySubsetLeft = PointCloudUtils.CreateVerticesFromDrawingPoints_IncludingCheck(pointsLeft, PointsDataList[0], pointsRight);
List <Vertex> mySubsetRight = PointCloudUtils.CreateVerticesFromDrawingPoints_IncludingCheck(pointsRight, PointsDataList[1], pointsLeft);
if (mySubsetLeft.Count == mySubsetRight.Count)
{
List <Vertex> myPointsTransformed = ICPOnPoints_WithSubset(myPointsTarget, mypointsSource, mySubsetLeft, mySubsetRight);
return(myPointsTransformed);
}
else
{
MessageBox.Show("Error in identifying stitched points ");
}
}
}
return(null);
}
public void ShowPointCloud(byte[] mycolorInfo, ushort[] depthInfo, int width, int height)
{
List <Vector3d> myVectors = Vertices.ConvertToVector3DList_FromArray(depthInfo, width, height);
List <float[]> myColors = PointCloudUtils.CreateColorInfo(mycolorInfo, depthInfo, width, height);
this.lastPointCloud = myVectors;
this.lastColors = myColors;
this.OpenGLControl.ShowPointCloud("Color Point Cloud", myVectors, myColors);
}
public void TransformPointCloud_SaveObjFile()
{
//open a file
DepthMetaData DepthMetaData = new DepthMetaData();
byte[] colorInfo = null;
DepthMetaData.ReadDepthWithColor_OBJ(path, "KinectFace1.obj", ref DepthMetaData.FrameData, ref colorInfo);
List <Vector3d> myVectors = Vertices.ConvertToVector3DList_FromArray(DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <float[]> myColorsFloats = PointCloudUtils.CreateColorInfo(colorInfo, DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <Vertex> myVertexList = Model3D.CreateVertexList(myVectors, myColorsFloats);
VertexUtils.ScaleByFactor(myVertexList, 0.9);
VertexUtils.RotateVertices30Degrees(myVertexList);
VertexUtils.TranslateVertices(myVertexList, 10, 3, 5);
Model3D.Save_ListVertices_Obj(myVertexList, path, "transformed.obj");
}
