/// <summary>
/// finds the absolute borders of a point cloud in terms of coordinates
/// </summary>
/// <param name="pInputCloud">the point cloud</param>
/// <returns>a struct containing the borders</returns>
public static PointCloudBorderPackage findBordersAbsolute(PointCloud pInputCloud)
{
PointCloudBorderPackage resPack = new PointCloudBorderPackage();
foreach (Point p in pInputCloud.pointcloud_hs)
{
if (p.point.X < resPack.xmin)
{
resPack.xmin = p.point.X;
}
if (p.point.X > resPack.xmax)
{
resPack.xmax = p.point.X;
}
if (p.point.Y < resPack.ymin)
{
resPack.ymin = p.point.Y;
}
if (p.point.Y > resPack.ymax)
{
resPack.ymax = p.point.Y;
}
if (p.point.Z < resPack.zmin)
{
resPack.zmin = p.point.Z;
}
if (p.point.Z > resPack.zmax)
{
resPack.zmax = p.point.Z;
}
}
return(resPack);
}
/// <summary>
/// creates three bitmaps based on a point cloud
/// </summary>
/// <param name="pInputCloud">the point cloud</param>
/// <param name="pHeight">the height of the bitmap</param>
/// <param name="pWidth">the width of the bitmap</param>
/// <returns>the picture package containing top, bottom and front view</returns>
public static PointCloudPicturePackage createPointCloudPicturePackageFromPointCloud(PointCloud pInputCloud, int pHeight, int pWidth)
{
//create data objects
PointCloudPicturePackage resPack = new PointCloudPicturePackage();
resPack.sideview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
resPack.bottomview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
resPack.frontview = new WriteableBitmap(pWidth, pHeight, 96.0, 96.0, System.Windows.Media.PixelFormats.Pbgra32, null);
//clear bitmap and set initial color value
resPack.sideview.Clear(System.Windows.Media.Colors.White);
resPack.bottomview.Clear(System.Windows.Media.Colors.White);
resPack.frontview.Clear(System.Windows.Media.Colors.White);
//find absolute borders for point cloud
PointCloudBorderPackage pcbp = findBordersAbsolute(pInputCloud);
resPack.borders = pcbp;
//draw stuff
foreach (Point p in pInputCloud.pointcloud_hs)
{
//calculate relative location by norming: 0 <= x,y,z <= 1
float x, y, z;
x = (p.point.X + Math.Abs(pcbp.xmin)) / (Math.Abs(pcbp.xmax) + Math.Abs(pcbp.xmin));
y = (p.point.Y + Math.Abs(pcbp.ymin)) / (Math.Abs(pcbp.ymax) + Math.Abs(pcbp.ymin));
z = (p.point.Z + Math.Abs(pcbp.zmin)) / (Math.Abs(pcbp.zmax) + Math.Abs(pcbp.zmin));
if (!(x >= 1 || y >= 1 || z >= 1))
{
//draw picture: x,y for front; x,z for bottom; z,y for side;
resPack.frontview.SetPixel((int)(x * pWidth), (int)(y * pHeight), System.Windows.Media.Colors.DarkRed);
resPack.bottomview.SetPixel((int)(x * pWidth), (int)(z * pHeight), System.Windows.Media.Colors.DarkRed);
resPack.sideview.SetPixel((int)(z * pWidth), (int)(y * pHeight), System.Windows.Media.Colors.DarkRed);
}
}
//return
resPack.bottomview.Freeze(); resPack.frontview.Freeze(); resPack.sideview.Freeze();
return(resPack);
}
