Esempio n. 1
0
        private void DrawBPPointCloudToSurface()
        {
            List <LMData> tempListModeData = new List <LMData>();

            if (LACC_Control_Static.ListedLMData.Count == 0)
            {
                return;
            }
            try
            {
                tempListModeData = (from LM in LACC_Control_Static.ListedLMData
                                    where LM != null && LM.MeasurementTime > DateTime.Now - TimeSpan.FromSeconds(MLPETime)
                                    select LM).ToList();
            }
            catch (NullReferenceException e)
            {
                Debug.WriteLine(e.ToString());
                return;
            }
            if (tempListModeData.Count == 0)
            {
                return;
            }
            //Trace.WriteLine("LM Data count " + tempListModeData.Count());
            var tempVector3s = SurfaceImageVector3;
            var tempUVs      = SurfaceImageUVs;

            var(v3, c4, bitmap) = ImageRecon.BPtoPointCloudBitmap(tempVector3s, tempUVs, tempListModeData, ReconRGBPixelHeight, ReconRGBPixelWidth, false, 5, 0.8);

            ReconBitmapImage = Bitmap2BitmapImage(bitmap);
            //RealtimeReconPointCloud = new PointGeometry3D() { Positions = v3, Colors = c4 };
        }
Esempio n. 2
0
        private void DrawBPPointCloudToRealTimePointCloud()
        {
            List <LMData> tempListModeData = new List <LMData>();

            if (RealtimeVector3s == null || RealtimeVector3s.Count() == 0)
            {
                return;
            }
            if (LACC_Control_Static.ListedLMData.Count == 0)
            {
                return;
            }
            try
            {
                tempListModeData = (from LM in LACC_Control_Static.ListedLMData
                                    where LM != null && LM.MeasurementTime > DateTime.Now - TimeSpan.FromSeconds(MLPETime)
                                    select LM).ToList();
            }
            catch (NullReferenceException e)
            {
                Debug.WriteLine(e.ToString());
                return;
            }
            if (tempListModeData.Count == 0)
            {
                return;
            }
            //Trace.WriteLine("LM Data count " + tempListModeData.Count());

            var(v3, c4) = ImageRecon.BPtoPointCloud(RealtimeVector3s, tempListModeData, false, 1, 0.8);

            // RealtimeReconPointCloud = new PointGeometry3D() { Positions = v3, Colors = c4 };
        }
Esempio n. 3
0
        private void DrawBP()
        {
            VMStatus = "Drawing BP";

            Task.Run(() =>
            {
                var bpData    = ImageRecon.BPtoPointCloud(ImageSpace, binaryToLMData.LACC.ListedLMData, BPAngleThreshold, BPMinCountPercent);
                var bpVectors = bpData.Item1;
                var bpColor4s = bpData.Item2;

                ReconPoint = new PointGeometry3D()
                {
                    Positions = bpVectors, Colors = bpColor4s
                };
                VMStatus = "Drawing BP Done";
            });
        }
Esempio n. 4
0
        private void RealTimeImageRecon()
        {
            if (RealtimeRGB != null)
            {
                ReconRGBPixelWidth  = RealtimeRGB.PixelWidth / 10;
                ReconRGBPixelHeight = RealtimeRGB.PixelHeight / 10;
            }
            if (!IsRealsenseOn)
            {
                return;
            }



            (SurfaceImageVector3, SurfaceImageUVs) = ImageRecon.GetImageSpaceBySurfaceFOV(ReconRGBPixelWidth, ReconRGBPixelHeight, 90, 65, 10);
            while (IsRealTimeImageReconOn)
            {
                //Stopwatch sw = new Stopwatch();
                //sw.Start();
                ////DrawBPPointCloudToRealTimePointCloud();
                switch (RealtimeReconMode)
                {
                case RTReconMode.RTRECONMODE_FAR:
                    DrawBPPointCloudToSurface();
                    break;

                case RTReconMode.RTRECONMODE_NEAR:
                    DrawBPPointCloudToRealTimePointCloudRGB();
                    break;
                }

                //sw.Stop();
                //Debug.WriteLine("BP Draw Image tooks " + sw.ElapsedMilliseconds + " ms.");
            }
            //DrawBPPointCloudToRealTimePointCloudRGB();
        }
Esempio n. 5
0
 private void SetImageSpace()
 {
     VMStatus   = "Image Space is Reset";
     ImageSpace = ImageRecon.GetImageSpaceByVoxel(MinX, MaxX, MinY, MaxY, MinZ, MaxZ, VoxelSize);
     VMStatus   = "Image Space is Reset. Voxel Count: " + ImageSpace.Count;
 }