/// <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);
}
/// <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;
}
