/// <summary>
/// Call each time PC size changes
/// </summary>
/// <param name="initColor"></param>
void InitPointCloud(Color initColor)
{
var positions = new HelixToolkit.Wpf.SharpDX.Core.Vector3Collection();
var colors = new HelixToolkit.Wpf.SharpDX.Core.Color4Collection();
var indices = new HelixToolkit.Wpf.SharpDX.Core.IntCollection();
for (int y = 0; y < Size.Height; y++)
{
for (int x = 0; x < Size.Width; x++)
{
indices.Add(positions.Count);
float mp = 0.01f;
positions.Add(new Vector3(mp * x, mp * y, 0.0f));
colors.Add(initColor);
}
}
context.Send((o) =>
{
PointCloud.Positions = positions;
PointCloud.Colors = colors;
PointCloud.Indices = indices;
}, null);
}
private void CalcBtn_Click(object sender, RoutedEventArgs e)
{
BoneModel model1 = MainViewModel.ProjData.BoneCollection[1];
BoneModel model2 = MainViewModel.ProjData.BoneCollection[2];
HelixToolkit.Wpf.SharpDX.Core.Vector3Collection model1Position = model1.Geometry.Positions;
HelixToolkit.Wpf.SharpDX.Core.Vector3Collection model2Position = model2.Geometry.Positions;
double total = 0;
double Xtotal = 0;
double Ytotal = 0;
double Ztotal = 0;
double totalfordev = 0;
double Xtotalfordev = 0;
double Ytotalfordev = 0;
double Ztotalfordev = 0;
double RMStotal = 0;
double max = 0;
double XMax = 0;
double YMax = 0;
double ZMax = 0;
if (model1Position.Count != model2Position.Count)
{
System.Windows.MessageBox.Show("模型不同 有錯");
return;
}
for (int i = 0; i < model1Position.Count; i++)
{
double distance = Math.Sqrt(Math.Pow(model1Position[i].X - model2Position[i].X, 2)
+ Math.Pow(model1Position[i].Y - model2Position[i].Y, 2)
+ Math.Pow(model1Position[i].Z - model2Position[i].Z, 2));
double Xdistance = Math.Abs(model1Position[i].X - model2Position[i].X);
double Ydistance = Math.Abs(model1Position[i].Y - model2Position[i].Y);
double Zdistance = Math.Abs(model1Position[i].Z - model2Position[i].Z);
//目前距離大於最大的
if (distance > max)
{
max = distance;
}
if (Xdistance > XMax)
{
XMax = Xdistance;
}
if (Ydistance > YMax)
{
YMax = Ydistance;
}
if (Zdistance > ZMax)
{
ZMax = Zdistance;
}
total += distance;
Xtotal += Xdistance;
Ytotal += Ydistance;
Ztotal += Zdistance;
RMStotal += distance * distance;
}
double avg = Math.Round(total / model1Position.Count, 3);
double xavg = Math.Round(Xtotal / model1Position.Count, 3);
double yavg = Math.Round(Ytotal / model1Position.Count, 3);
double zavg = Math.Round(Ztotal / model1Position.Count, 3);
for (int i = 0; i < model1Position.Count; i++)
{
double distance = Math.Sqrt(Math.Pow(model1Position[i].X - model2Position[i].X, 2)
+ Math.Pow(model1Position[i].Y - model2Position[i].Y, 2)
+ Math.Pow(model1Position[i].Z - model2Position[i].Z, 2));
double Xdistance = Math.Abs(model1Position[i].X - model2Position[i].X);
double Ydistance = Math.Abs(model1Position[i].Y - model2Position[i].Y);
double Zdistance = Math.Abs(model1Position[i].Z - model2Position[i].Z);
totalfordev += (distance - avg) * (distance - avg);
Xtotalfordev += (Xdistance - xavg) * (Xdistance - xavg);
Ytotalfordev += (Ydistance - yavg) * (Ydistance - yavg);
Ztotalfordev += (Zdistance - zavg) * (Zdistance - zavg);
}
double Dev = Math.Sqrt(totalfordev / model1Position.Count);
double XDev = Math.Sqrt(Xtotalfordev / model1Position.Count);
double YDev = Math.Sqrt(Ytotalfordev / model1Position.Count);
double ZDev = Math.Sqrt(Ztotalfordev / model1Position.Count);
double RMS = Math.Sqrt(RMStotal / model1Position.Count);
Console.WriteLine("模型一:" + model1.FilePath);
Console.WriteLine("模型二:" + model2.FilePath);
Console.WriteLine("整體:" + avg + "±" + Math.Round(Dev, 3) + " " + Math.Round(max, 3));
Console.WriteLine("RMS Error:" + Math.Round(RMS, 3));
Console.WriteLine("XYZ Mean:" + xavg + "±" + Math.Round(XDev, 3) + " " + yavg + "±" + Math.Round(YDev, 3) + " " + zavg + "±" + Math.Round(ZDev, 3));
Console.WriteLine("XYZ Max:" + Math.Round(XMax, 3) + " " + Math.Round(YMax, 3) + " " + Math.Round(ZMax, 3) + " ");
Console.WriteLine("\n");
}
/// <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;
}
