public static void DrawDetectRectRegion(SharpGL.OpenGL gl_object, DetectedRectRegion DetectField, double ColorR, double ColorG, double ColorB) { gl_object.LoadIdentity(); gl_object.Translate(_LX, _LY, _LZ); gl_object.Rotate(_RoX, 0.0, 1.0, 0.0); gl_object.Rotate(_RoY, 1.0, 0.0, 0.0); gl_object.Rotate(_RoZ, 0.0, 0.0, 1.0); //畫範圍 gl_object.Color(ColorR, ColorG, ColorB); gl_object.Begin(OpenGL.GL_LINE_STRIP); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY1, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX2, DetectField.DetectRegionY2, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ1); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY2, DetectField.DetectRegionZ2); gl_object.Vertex(DetectField.DetectRegionX1, DetectField.DetectRegionY1, DetectField.DetectRegionZ2); gl_object.End(); }
public static void Draw3DInformation(SharpGL.OpenGL gl_object, float[] X, float[] Y, float[] Z, DetectedRectRegion DetectField) { double MaxDistance = 0; double r = 0, g = 0, b = 0; gl_object.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT); gl_object.LoadIdentity(); gl_object.Translate(_LX, _LY, _LZ); gl_object.Rotate(_RoX, 0.0, 1.0, 0.0); gl_object.Rotate(_RoY, 1.0, 0.0, 0.0); gl_object.Rotate(_RoZ, 0.0, 0.0, 1.0); //畫光達自己的位置 gl_object.Begin(OpenGL.GL_TRIANGLES); gl_object.Color(1.0, 1.0, 1.0); gl_object.Vertex(-0.2, -0.15, 0); gl_object.Vertex(0, 0.2, 0); gl_object.Vertex(0.2, -0.15, 0); gl_object.End(); drawAxis(gl_object); //畫D場景 gl_object.Begin(OpenGL.GL_POINTS); for (int i = 0; i < 23040; i++) { if (DetectField.DetectRegionX1 < X[i] && X[i] < DetectField.DetectRegionX2 && DetectField.DetectRegionY1 < Y[i] && Y[i] < DetectField.DetectRegionY2 && DetectField.DetectRegionZ1 < Z[i] && Z[i] < DetectField.DetectRegionZ2) { continue; } if (X[i] != 0 && Y[i] != 0 && Z[i] != 0) { //用XY距離計算顯示顏色 double XYDistance = Math.Sqrt(X[i] * X[i] + Y[i] * Y[i]); if (XYDistance > MaxDistance) { MaxDistance = XYDistance; } if (XYDistance > 10) { XYDistance = 10; } XYDistance = XYDistance / 10 * (360 - 30) + 30; HsvToRgb(XYDistance, 1, 1, out r, out g, out b); gl_object.Color(r, g, b); //畫上點座標 gl_object.Vertex(X[i], Y[i], Z[i]); } } gl_object.End(); gl_object.Flush(); }