private Point3DCollection ViewportPlotter()
{
Point3DCollection tempPoints = new Point3DCollection();
double x = 1;
double y = 1;
double c1 = 1;
double c2 = 1;
for (int i = 0; i < 640; i = i + 3)
{
for (int p = 0; p < 480; p = p + 3)
{
x = c1;
y = c2;
if (this.z[((p * 640) + i)] > 800 && this.z[((p * 640) + i)] < 8000)
{
tempPoints.Add(new Point3D(x, y, this.z[((p * 640) + i)]));
}
c2 = c2 + 3;
}
c1 = c1 + 3;
c2 = 0;
}
System.Diagnostics.Debug.WriteLine(tempPoints.Count());
return(tempPoints);
}
//---------------------------------------------------------------------------------------------
/// <summary>
/// This method saves the given MeshGeometry3D to the given file in the PLY format
/// Calculates vertex normals required for poisson reconstruction
/// </summary>
/// <param name="mesh">Trianglemesh to export</param>
/// <param name="outputFileName">Name of the file to write.</param>
//---------------------------------------------------------------------------------------------
void SaveTriangleMeshToPlyFile(MeshGeometry3D mesh, string outputFileName)
{
if (mesh == null)
{
return;
}
if (File.Exists(outputFileName))
{
File.SetAttributes(outputFileName, FileAttributes.Normal);
File.Delete(outputFileName);
}
Point3DCollection vertexes = mesh.Positions;
Int32Collection indexes = mesh.TriangleIndices;
using (TextWriter writer = new StreamWriter(outputFileName))
{
writer.WriteLine("ply");
writer.WriteLine("format ascii 1.0");
writer.WriteLine("element vertex " + vertexes.Count);
writer.WriteLine("property float x");
writer.WriteLine("property float y");
writer.WriteLine("property float z");
writer.WriteLine("property float nx");
writer.WriteLine("property float ny");
writer.WriteLine("property float nz");
writer.WriteLine("element face " + indexes.Count / 3);
writer.WriteLine("property list uchar int vertex_indices");
writer.WriteLine("end_header");
for (int v = 0; v < vertexes.Count(); v++)
{
Vector3D normal = CalculateVertexNormal(mesh, v);
writer.Write(vertexes[v].X.ToString("e") + " ");
writer.Write(vertexes[v].Y.ToString("e") + " ");
writer.Write(vertexes[v].Z.ToString("e") + " ");
writer.Write(normal.X.ToString("e") + " ");
writer.Write(normal.Y.ToString("e") + " ");
writer.Write(normal.Z.ToString("e"));
writer.WriteLine();
}
int i = 0;
while (i < indexes.Count)
{
writer.Write("3 ");
writer.Write(indexes[i++] + " ");
writer.Write(indexes[i++] + " ");
writer.Write(indexes[i++] + " ");
writer.WriteLine();
}
}
}
/// <summary>
/// 只显示，不做居中
/// </summary>
/// <param name="rpList"></param>
/// <param name="Path"></param>
/// <param name="startLine"></param>
/// <param name="Length"></param>
/// <param name="filterMultiple"></param>
/// <returns></returns>
public static bool ReadTxtPoint3Ds(ref Point3DCollection rpList, string Path, int startLine, int Length, int filterMultiple = 1)
{
if (filterMultiple < 1)
{
filterMultiple = 1;
}
if (File.Exists(Path))
{
//using (StreamReader sr = new StreamReader("scan\\clipped_pointsShoes.pcd"))
using (StreamReader sr = new StreamReader(Path))
{
rpList.Clear();
String line;
int i = 0;
while ((line = sr.ReadLine()) != null)//按行读取 line为每行的数据
{
i++;
if (i < startLine)
{
continue;
}
if (i % filterMultiple == 0)
{
string[] parts = line.Trim().Split(' ');
if (parts.Length != Length && parts.Length != 3 && parts.Length != 6)
{
continue;
}
Point3D rp = new Point3D();
rp.X = -double.Parse(parts[0]);
rp.Y = -double.Parse(parts[1]);
rp.Z = double.Parse(parts[2]);
rpList.Add(rp);
}
}
if (rpList.Count() > 0)
{
//Point3D rp1 = rpList[0];
//rpList.Add(rp1);
}
else
{
return(false);
}
}
}
else
{
return(true);
}
return(true);
}
/// <summary>
/// 向中心点偏移固定距离
/// </summary>
/// <param name="orgP3DC"></param>
/// <param name="displacement"></param>
/// <returns></returns>
public static Point3DCollection ZoomPoints(Point3DCollection orgP3DC, double displacement)
{
double xSum = 0, ySum = 0, zSum = 0; //取出中心点
for (int i = 0; i < orgP3DC.Count(); i++)
{
xSum += orgP3DC[i].X;
ySum += orgP3DC[i].Y;
zSum += orgP3DC[i].Z;
}
Point3D midPoint = new Point3D(xSum / orgP3DC.Count(), ySum / orgP3DC.Count(), zSum / orgP3DC.Count());
for (int i = 0; i < orgP3DC.Count(); i++) //循环取向中心点缩放的某个点 Convert.ToDouble(Global.pointZoom)
{
orgP3DC[i] = MovePoint(orgP3DC[i], midPoint, displacement);
}
return(orgP3DC);
}
/// <summary>
///
/// </summary>
/// <param name="orgP3DC"></param>
/// <param name="displacement"></param>
/// <returns></returns>
public static Point3DCollection ZoomOutline(Point3DCollection orgP3DC, float displacement)
{
Point3DCollection outP3DC = new Point3DCollection();
List <Vector3D> pList = new List <Vector3D>();
List <Vector3D> dpList = new List <Vector3D>();
List <Vector3D> ndpList = new List <Vector3D>();
List <Vector3D> outList = new List <Vector3D>();
int count = orgP3DC.Count();
for (int i = 0; i < count; i++)
{
Vector3D v3d = new Vector3D(orgP3DC[i].X, orgP3DC[i].Y, 0);
pList.Add(v3d);
}
for (int i = 0; i < count; i++)
{
int next = (i == (count - 1) ? 0 : (i + 1));
dpList.Add(pList[next] - pList[i]);
float unitLen = 1.0f / (float)Math.Sqrt(Dot(dpList[i], dpList[i]));
ndpList.Add(dpList[i] * unitLen);
}
float SAFELINE = displacement;
for (int i = 0; i < count; i++)
{
int startIndex = (i == 0 ? (count - 1) : (i - 1));
int endIndex = i;
float sinTheta = (float)Cross(ndpList[startIndex], ndpList[endIndex]); if (sinTheta == 0)
{
sinTheta = 0.00001f;
} //避免为零的情况
Vector3D orientVector = ndpList[endIndex] - ndpList[startIndex]; //i.e. PV2-V1P=PV2+PV1
Vector3D temp_out = new Vector3D();
temp_out.X = pList[i].X + SAFELINE / sinTheta * orientVector.X;
temp_out.Y = pList[i].Y + SAFELINE / sinTheta * orientVector.Y;
outList.Add(temp_out);
}
for (int i = 0; i < count; i++)
{
Point3D p3tmp = new Point3D();
p3tmp.X = outList[i].X;
p3tmp.Y = outList[i].Y;
p3tmp.Z = orgP3DC[i].Z;
outP3DC.Add(p3tmp);
}
return(outP3DC);
}
/// <summary>
/// 按中心点距离等比例缩放算法
/// </summary>
/// <param name="orgP3DC"></param>
/// <param name="displacement"></param>
/// <returns></returns>
public static Point3DCollection ZoomRatePoints(Point3DCollection orgP3DC, double displacement)
{
double xSum = 0, ySum = 0, zSum = 0; //取出中心点
for (int i = 0; i < orgP3DC.Count(); i++)
{
xSum += orgP3DC[i].X;
ySum += orgP3DC[i].Y;
zSum += orgP3DC[i].Z;
}
Point3D midPoint = new Point3D(xSum / orgP3DC.Count(), ySum / orgP3DC.Count(), zSum / orgP3DC.Count());
for (int i = 0; i < orgP3DC.Count(); i++) //循环取向中心点缩放的某个点 Convert.ToDouble(Global.pointZoom)
{
Point3D ptmp = new Point3D();
ptmp.X = midPoint.X + (orgP3DC[i].X - midPoint.X) * displacement;
ptmp.Y = midPoint.Y + (orgP3DC[i].Y - midPoint.Y) * displacement;
ptmp.Z = orgP3DC[i].Z;
orgP3DC[i] = ptmp;
}
return(orgP3DC);
}
/// <summary>
///
/// </summary>
/// <param name="rpList"></param>
/// <param name="Path"></param>
/// <param name="startLine"></param>
/// <param name="Length"></param>
/// <param name="filterMultiple"></param>
/// <param name="xZoom">x放大或缩小</param>
/// <param name="yZoom"></param>
/// <param name="zZoom"></param>
/// <param name="xTransfer">x平移</param>
/// <param name="yTransfer"></param>
/// <param name="zTransfer"></param>
/// <returns></returns>
public static bool ReadTxtPoint3DsZoom(ref Point3DCollection rpList, string Path, int startLine, int Length, out double cX, out double cY, out double cZ,
int filterMultiple = 1, bool ZoomCenter = true,
double xZoom = 1, double yZoom = 1, double zZoom = 1, double cX2 = 0, double cY2 = 0, double cZ2 = 0,
double xTransfer = 0, double yTransfer = 0, double zTransfer = 0)
{
cX = 0; cY = 0; cZ = 0;
if (filterMultiple < 1)
{
filterMultiple = 1;
}
if (File.Exists(Path))
{
//using (StreamReader sr = new StreamReader("scan\\clipped_pointsShoes.pcd"))
using (StreamReader sr = new StreamReader(Path))
{
rpList.Clear();
String line;
int i = 0;
while ((line = sr.ReadLine()) != null)//按行读取 line为每行的数据
{
i++;
if (i < startLine)
{
continue;
}
if (i % filterMultiple == 0)
{
string[] parts = line.Trim().Split(' ');
if (parts.Length != Length)
{
continue;
}
Point3D rp = new Point3D();
rp.X = -double.Parse(parts[0]);
rp.Y = -double.Parse(parts[1]);
rp.Z = double.Parse(parts[2]);
cX += rp.X;
cY += rp.Y;
cZ += rp.Z;
rpList.Add(rp);
}
}
if (rpList.Count() > 0)
{
//Point3D rp1 = rpList[0];
//rpList.Add(rp1);
}
else
{
return(false);
}
}
}
else
{
return(true);
}
if (ZoomCenter)
{
cX = cX / rpList.Count();
cY = cY / rpList.Count();
cZ = cZ / rpList.Count();
}
else
{
cX = cX2; cY = cY2; cZ = cZ2;
}
//缩放/平移/并居中显示
for (int i = 0; i < rpList.Count(); i++)
{
Point3D rp = new Point3D();
rp.X = (rpList[i].X - cX) * xZoom + xTransfer;
rp.Y = (rpList[i].Y - cY) * yZoom + yTransfer;
rp.Z = (rpList[i].Z - cZ) * zZoom + zTransfer;
rpList[i] = rp;
}
return(true);
}
/// <summary>
/// 只显示，返回中心点
/// </summary>
/// <param name="rpList"></param>
/// <param name="Path"></param>
/// <param name="startLine"></param>
/// <param name="Length"></param>
/// <param name="pCenter"></param>
/// <param name="filterMultiple"></param>
/// <returns></returns>
public static bool ReadTxtPoint3DsOutZoom(ref Point3DCollection rpList, string Path, int startLine, int Length, out Point3D pCenter, int filterMultiple = 1)
{
pCenter = new Point3D();
double cX = 0; double cY = 0; double cZ = 0;
if (filterMultiple < 1)
{
filterMultiple = 1;
}
if (File.Exists(Path))
{
//using (StreamReader sr = new StreamReader("scan\\clipped_pointsShoes.pcd"))
using (StreamReader sr = new StreamReader(Path))
{
rpList.Clear();
String line;
int i = 0;
while ((line = sr.ReadLine()) != null)//按行读取 line为每行的数据
{
i++;
if (i < startLine)
{
continue;
}
if (i % filterMultiple == 0)
{
string[] parts = line.Trim().Split(' ');
if (parts.Length != Length && parts.Length != 3 && parts.Length != 6)
{
continue;
}
Point3D rp = new Point3D();
rp.X = -double.Parse(parts[0]);
rp.Y = -double.Parse(parts[1]);
rp.Z = double.Parse(parts[2]);
cX += rp.X;
cY += rp.Y;
cZ += rp.Z;
rpList.Add(rp);
}
}
if (rpList.Count() > 0)
{
//Point3D rp1 = rpList[0];
//rpList.Add(rp1);
}
else
{
return(false);
}
}
}
else
{
return(true);
}
cX = cX / rpList.Count();
cY = cY / rpList.Count();
cZ = cZ / rpList.Count();
pCenter.X = cX;
pCenter.Y = cY;
pCenter.Z = cZ;
//缩放/平移/并居中显示
for (int i = 0; i < rpList.Count(); i++)
{
Point3D rp = new Point3D();
rp.X = rpList[i].X;
rp.Y = rpList[i].Y;
rp.Z = rpList[i].Z;
rpList[i] = rp;
}
return(true);
}
public void writeTo3DFile()
{
string DataPath = GestureTests.Config.DataPath + userDirectory.Text + "\\"; //@"..\..\..\data6D\a001\";
string searchPattern = gestureSelector.Text + "???";
DirectoryInfo di = Directory.CreateDirectory(DataPath);
FileInfo[] files = di.GetFiles(searchPattern);
int file_index = files.Length;
string filename = DataPath + gestureSelector.Text + file_index;
gestureDetected.Text = gestureSelector.Text + file_index;
StreamWriter file = File.CreateText(filename);
file.WriteLine("GestureName: " + gestureSelector.Text);
file.WriteLine("Duration(ms): " + pointHist.Count() * waveIn.BufferMilliseconds);
file.WriteLine("Handedness: " + handSelector.Text);
file.WriteLine();
file.WriteLine("SpeakerAngles: " + selectedChannels);
for (int i = 0; i < KF.Count; i++)
{
file.WriteLine(KF[i].speakerTheta);
}
file.WriteLine();
file.WriteLine("SpeakerElevations: " + selectedChannels);
for (int i = 0; i < KF.Count; i++)
{
file.WriteLine(KF[i].speakerAltitude);
}
file.WriteLine();
file.WriteLine("InterpretedPoints: " + pointHist.Count());
foreach (Point3D p in point3DHist)
{
file.WriteLine(p.X + "," + p.Y + "," + p.Z);
}
file.WriteLine();
file.WriteLine("StrokePoints: " + S.Count());
Point3D origin = new Point3D(0, 0, 0);
file.WriteLine(origin.X + "," + origin.Y + "," + origin.Z);
for (int i = 0; i < point3DHist.Count(); i++)
{
origin.X += point3DHist[i].X;
origin.Y += point3DHist[i].Y;
origin.Z += point3DHist[i].Z;
file.WriteLine(origin.X + "," + origin.Y + "," + origin.Z);
}
file.WriteLine();
file.WriteLine("Velocities: " + history[0].Count);
for (int i = 0; i < history[0].Count; i++)
{
file.WriteLine(history[0][i] + "," + history[1][i] + "," + history[2][i]);
}
file.WriteLine();
file.WriteLine("InverseVelocities: " + inverse_history[0].Count);
for (int i = 0; i < inverse_history[0].Count; i++)
{
file.WriteLine(inverse_history[0][i] + "," + inverse_history[1][i] + "," + inverse_history[2][i]);
}
file.WriteLine();
file.WriteLine("RawData: " + data_history.Count);
for (int i = 0; i < data_history.Count; i++)
{
file.WriteLine(string.Join(",", data_history[i]));
}
file.Flush();
file.Close();
}