public String findRobobt3Dmodel(String version)
{
// add more list model 3d Robot
return(GlobalVariables.getPathRobot3DModel());
}
public void setMap()
{
// try
{
var mesh = setBorderMap();
mesh.TextureCoordinates = setMapCollection();
ImageBrush brush = new ImageBrush();
// brush.ImageSource = new BitmapImage(new Uri(pgmMapPath, UriKind.Absolute));
BitmapImage bi = new BitmapImage(new Uri(pgmMapPath, UriKind.Absolute));;
var grayBitmapSource = new FormatConvertedBitmap();
grayBitmapSource.BeginInit();
grayBitmapSource.Source = bi;
grayBitmapSource.DestinationFormat = PixelFormats.Gray32Float;
grayBitmapSource.EndInit();
IplImage canny = BitmapConverter.ToIplImage(BitmapImage2Bitmap(bi));
IplImage img = new IplImage();
Cv.Threshold(canny, canny, 15, 255, ThresholdType.BinaryInv);
IntPtr Dynstorage = CvInvoke.cvCreateMemStorage(0);
IntPtr Dyncontour = new IntPtr();
var contours = new List <IntPtr>();
// Cv.FindContours(canny,contours,0,1);
// CvInvoke.cvFindContours(canny,Dynstorage,ref Dyncontour,8,ContourRetrieval.List,ContourChain.ApproxNone);
Bitmap pp = BitmapConverter.ToBitmap(canny);
brush.ImageSource = bi;// ToBitmapImage(pp);
brush.TileMode = TileMode.None;
brush.ViewportUnits = BrushMappingMode.Absolute;
brush.ViewboxUnits = BrushMappingMode.Absolute;
brush.Stretch = Stretch.None;
brush.AlignmentX = AlignmentX.Left;
brush.AlignmentY = AlignmentY.Top;
RotateTransform pr = new RotateTransform();
//pr.CenterX=100;
// pr.CenterX=100;
// brush.Transform = new MatrixTransform(-1, 0, 0, 1.0d, -1.0d, -1.0d);
brush.Transform = new MatrixTransform(1, 0, 0, -1.0d, 0, 0);
// brush.RelativeTransform = pr;
double largesize = bi.PixelWidth <= bi.PixelHeight ? bi.PixelWidth : bi.PixelHeight;
brush.Viewport = new Rect(-GlobalVariables.ConvertMetertoUnitLength(54.8), GlobalVariables.ConvertMetertoUnitLength(15) - largesize, bi.PixelWidth, bi.PixelHeight);
DiffuseMaterial mat = new DiffuseMaterial(brush);
GeometryModel3D gModel3D = new GeometryModel3D {
Geometry = mesh, Material = mat
};
pModelMap.Content = gModel3D;
}
//catch
{
// MessageBox.Show("Error in loading Map");
}
}