/// <summary>
/// Constructor of the MainViewModel
/// Sets up allProperties
/// </summary>
public MainViewModel(Size2 pcSize)
{
Size = pcSize;
// Render Setup
EffectsManager = new DefaultEffectsManager();
RenderTechnique = EffectsManager[DefaultRenderTechniqueNames.Blinn];
// Window Setup
this.Title = "Point Cloud";
this.SubTitle = null;
// Camera Setup
this.Camera = new HelixToolkit.Wpf.SharpDX.PerspectiveCamera
{
Position = new Point3D(0, 3, -3),
LookDirection = new Vector3D(0, -1, 4),
UpDirection = new Vector3D(0, 1, 0)
};
this.Camera.LookAt(new Point3D(0, 0, 0), 0);
// Lines Setup
this.LineThickness = 1;
this.TriangulationThickness = .5;
this.ShowTriangleLines = true;
// Lighting Setup
this.AmbientLightColor = System.Windows.Media.Colors.White;
this.DirectionalLightColor = Color.White;
this.DirectionalLightDirection = new Vector3(0, -1, 0);
// Model Materials and Colors
this.Material = PhongMaterials.PolishedBronze;
// Grid Setup
int GRID_SIZE = 10;
int GRID_LONG_RANGE_SIZE = 40;
var gridTransform = new Transform3DGroup();
gridTransform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(1, 0, 0), 90)));
gridTransform.Children.Add(new TranslateTransform3D(-GRID_SIZE / 2, -0.01, -GRID_SIZE / 2));
GridTransform = gridTransform;
// Major
LineBuilder lb = new LineBuilder();
lb.AddGrid(BoxFaces.Bottom, 11, 11, GRID_SIZE, GRID_SIZE);
this.GridMajor = lb.ToLineGeometry3D();
this.GridColor = System.Windows.Media.Color.FromArgb(15, 200, 200, 200);
// Minor
lb = new LineBuilder();
lb.AddGrid(BoxFaces.Bottom, 101, 101, GRID_SIZE, GRID_SIZE);
this.GridMinor = lb.ToLineGeometry3D();
// Long range
lb = new LineBuilder();
lb.AddGrid(BoxFaces.Bottom, GRID_LONG_RANGE_SIZE + 1, GRID_LONG_RANGE_SIZE + 1, GRID_LONG_RANGE_SIZE, GRID_LONG_RANGE_SIZE);
this.GridLongRange = lb.ToLineGeometry3D();
GridLRTransform = new TranslateTransform3D(-(GRID_LONG_RANGE_SIZE - GRID_SIZE) / 2, -(GRID_LONG_RANGE_SIZE - GRID_SIZE) / 2, 0);
// Long range major
lb = new LineBuilder();
lb.AddGrid(BoxFaces.Bottom, GRID_LONG_RANGE_SIZE / 5 + 1, GRID_LONG_RANGE_SIZE / 5 + 1, GRID_LONG_RANGE_SIZE, GRID_LONG_RANGE_SIZE);
this.GridLongRangeMajor = lb.ToLineGeometry3D();
lb = new LineBuilder();
lb.AddLine(new Vector3(0, 0, 0), new Vector3(GRID_SIZE / 2, 0, 0));
this.XAxis = lb.ToLineGeometry3D();
lb = new LineBuilder();
lb.AddLine(new Vector3(0, 0, 0), new Vector3(0, GRID_SIZE / 2, 0));
this.YAxis = lb.ToLineGeometry3D();
lb = new LineBuilder();
lb.AddLine(new Vector3(0, 0, 0), new Vector3(0, 0, GRID_SIZE / 2));
this.ZAxis = lb.ToLineGeometry3D();
var mb = new MeshBuilder();
mb.AddSphere(new Vector3(0, 0, 0), 0.05);
this.Origin = mb.ToMeshGeometry3D();
OriginMaterial = new PhongMaterial()
{
AmbientColor = System.Windows.Media.Colors.Gray.ToColor4(),
DiffuseColor = System.Windows.Media.Colors.Yellow.ToColor4(),
SpecularColor = System.Windows.Media.Colors.White.ToColor4(),
SpecularShininess = 100f,
};
PointCloud = new PointGeometry3D();
PointCloud.IsDynamic = true;
InitPointCloud(Color4Extensions.FromArgb(255, 0, 0));
}
/// <summary>
/// Call on each frame
/// </summary>
public void UpdatePC()
{
var lastUpdate = DateTime.Now;
a = (lastUpdate - phase).TotalMilliseconds / 5000.0;
HelixToolkit.Wpf.SharpDX.Core.Vector3Collection positions;
if (fastUpdate)
{
positions = PointCloud.Positions;
}
else
{
positions = new HelixToolkit.Wpf.SharpDX.Core.Vector3Collection(PointCount);
}
var colors = new HelixToolkit.Wpf.SharpDX.Core.Color4Collection(PointCount);
float f = 1915; // px, focal length (fx')
float B = 0.25f; // m, baseline B = Tx / (-fx')
int w = Size.Width, h = Size.Height;
for (int y = 0, i = 0; y < h; y++)
{
for (int x = 0; x < w; x++, i++)
{
{
int px = x * 3 + y * w * 3;
float yy = 0.01f * y, xx = 0.01f * x;
var color = Color4Extensions.FromArgb((int)(255 * Math.Sin(yy + a)), (int)(255 * Math.Cos(xx + a)), 0);
int pxd = x * 3 + y * w * 3;
short disp = (short)(10 * Math.Sin(yy + a) * Math.Cos(xx + a));
//short disp = (short)(100 + 10 * Math.Sin(yy + a) * Math.Cos(xx + a));
float Z = f * B / (disp);
//Z = 200;
float u = w / 2 - x;
float v = h / 2 - y;
float X = u * Z / f;
float Y = v * Z / f;
if (fastUpdate)
{
positions[i] = (new Vector3(X, Y, Z));
}
else
{
positions.Add(new Vector3(X, Y, Z));
}
colors.Add(color);
}
}
}
context.Send((o) =>
{
PointCloud.Positions = positions;
PointCloud.Colors = colors;
int d = 10;
this.Camera.Position = new Point3D(Math.Cos(a) * d, 3, Math.Sin(a) * d);
this.Camera.LookDirection = new Vector3D(-this.Camera.Position.X, -this.Camera.Position.Y, -this.Camera.Position.Z);
}, null);
var currentTime = DateTime.Now;
var duration = currentTime - lastUpdate;
FPS = 1000.0 / duration.TotalMilliseconds;
lastUpdate = currentTime;
}
/// <summary>
/// PC Size
/// </summary>
/// <param name="newSize"></param>
public void SetSize(System.Drawing.Size newSize)
{
this.Size = new Size2(newSize.Width, newSize.Height);
InitPointCloud(Color4Extensions.FromArgb(0, 255, 0));
}