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 };
}
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 };
}
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";
});
}
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();
}
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;
}
