public override ScanLine DoTask(ScanLine source)
{
int count = source.Count;
ScanLine ret = new ScanLine(source.LaserID, count);
ret.DisplayAsLine = source.DisplayAsLine;
if (count < 3)
{
ret.AddRange(source);
}
else
{
ret.Add(source[0]);
for (int i = 1; i < count - 1; i++)
{
if (CancelPending)
{
return(source);
}
ret.Add(source[i - 1].Average(source[i + 1]));
}
ret.Add(source[count - 1]);
}
return(ret);
}
public override ScanLine DoTask(ScanLine source)
{
if (source.Count < 5)
{ //not enough points, less than 5 points surely a false positive
return(new ScanLine(source.LaserID, 0));
}
ValidityRange range = GetRange(source, Factor);
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D sp = source[i];
bool valid = range.IsValid(GetVal(sp));
#if DEBUG
if (ColoriseOnly)
{
Color col = valid ? Color.WhiteSmoke : Color.Red;
ret.Add(new Point3D(sp.Position, sp.Normal, col));
}
else
#endif
if (valid)
{
ret.Add(new Point3D(sp.Position, sp.Normal, sp.Color));
}
}
return(ret);
}
/// <summary>
/// Do the task function override
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
UpdatePercent(0, ret);
source.Sort();
int count = source.Count;
//count = 2;
//primitiveType = PrimitiveType.LineStrip;
ScanLine top = new ScanLine(count);
ScanLine bottom = new ScanLine(count);
ScanLine prev = source[0];
top.Add(prev.First());
bottom.Add(prev.Last());
for (int i = 1; i <= count; i++)
{
if (this.CancelPending)
{
return(source);
}
ScanLine current = source[i % count];
StripResult strip = CreateStrip(prev, current);
top.Add(strip.Current.First());
bottom.Add(strip.Current.Last());
prev = strip.Current;
ret.Add(strip.Result);
UpdatePercent((int)((100 * i) / count), ret);
}
if (count <= 2)
{
return(ret);
}
Point3D topcenter = Point3D.Average(top);
Point3D bottomcenter = Point3D.Average(bottom);
for (int i = 0; i < ret.Count; i++)
{
ret[i].Insert(0, topcenter);
ret[i].Add(bottomcenter);
AdjustNormalFromTriangleStrip(ret[i]);
}
UpdatePercent(100, ret);
return(ret);
}
protected override StripResult CreateStrip(ScanLine previous, ScanLine current)
{
int count1 = previous.Count;
int count2 = current.Count;
ScanLine ret1 = new ScanLine(previous.LaserID, previous.Count);
ScanLine ret2 = new ScanLine(current.LaserID, current.Count);
int i1 = 0;
int i2 = 0;
while (i1 < count1 && i2 < count2)
{
Point3D p1 = previous[i1];
Point3D p2 = current[i2];
ret1.Add(p1);
ret2.Add(p2);
if (i2 == 0 && p1.Position.Y > p2.Position.Y)
i1++;
else if (i1 == 0 && p1.Position.Y < p2.Position.Y)
i2++;
else if (i1 == count1 - 1 && i2 != count2 - 1)
i2++;
else if (i2 == count2 - 1 && i1 != count1 - 1)
i1++;
else
{
i1++;
i2++;
}
}
return new StripResult(ret1, ret2);
}
public override ScanLine DoTask(ScanLine source)
{
int count = source.Count;
if (count <= 2)
{
return(source);
}
ScanLine ret = new ScanLine(source.LaserID, source.Count);
ret.DisplayAsLine = source.DisplayAsLine;
uint order = Order;
for (int i = 0; i < count; i++)
{
if (this.CancelPending)
{
return(ret);
}
// Debug.Write("[");
List <Point3D> sourceWindow = new List <Point3D>();
for (int j = 0; j < order; j++)
{
int indice = (int)(i + j - order / 2);
indice = Math.Max(0, Math.Min(indice, count - 1));
// Debug.Write(" "+indice);
sourceWindow.Add(source[indice]);
}
// Debug.WriteLine("]");
ret.Add(Utils.GetMedian(sourceWindow));
}
return(ret);
}
public override ScanLine DoTask(ScanLine source)
{
int count = source.Count;
ScanLine ret = new ScanLine(source.LaserID, count);
ret.DisplayAsLine = source.DisplayAsLine;
if (count < 3)
ret.AddRange(source);
else
{
ret.Add(source[0]);
for (int i = 1; i < count - 1; i++)
{
if (CancelPending) return source;
ret.Add(source[i - 1].Average(source[i + 1]));
}
ret.Add(source[count - 1]);
}
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
double clamp = Math.Abs(Utils.DeltaAngle(-180, source.Angle) / 360);
ScanLine ret = new ScanLine(source.LaserID,source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D p = source[i];
Vector4 c = new Vector4(0.25f, 0.25f, 0.25f, 1);
c[source.LaserID%3] = (float)clamp;
ret.Add(new Point3D(p.Position,p.Normal,ColorExtension.ColorFromVector(c)));
}
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
double clamp = Math.Abs(Utils.DeltaAngle(-180, source.Angle) / 360);
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D p = source[i];
Vector4 c = new Vector4(0.25f, 0.25f, 0.25f, 1);
c[source.LaserID % 3] = (float)clamp;
ret.Add(new Point3D(p.Position, p.Normal, ColorExtension.ColorFromVector(c)));
}
return(ret);
}
public override ScanLine DoTask(ScanLine source)
{
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D p = source[i];
Vector3d pos = p.Position;
pos.X *= XFactor;
pos.Y *= YFactor;
pos.Z *= ZFactor;
ret.Add(new Point3D(pos, p.Normal, p.Color));
}
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D p = source[i];
Vector3d pos = p.Position;
pos.X *= XFactor;
pos.Y *= YFactor;
pos.Z *= ZFactor;
ret.Add(new Point3D(pos, p.Normal, p.Color));
}
return(ret);
}
protected ScanLine AverageLines(int count, int biggestIndex, List<ScanLine> scanlines)
{
int numLines = scanlines.Count;
ScanLine ret = new ScanLine(-1, count);
for (int i = 0; i < count; i++)
{
List<Point3D> list = new List<Point3D>(numLines);
double refy = scanlines[biggestIndex][i].Position.Y;
for (int line = 0; line < numLines; line++)
{
list.Add(scanlines[line].GetInterpolateByY(refy, i == 0));
}
ret.Add(Point3D.Average(list));
}
return ret;
}
protected ScanLine AverageLines(int count, int biggestIndex, List <ScanLine> scanlines)
{
int numLines = scanlines.Count;
ScanLine ret = new ScanLine(-1, count);
for (int i = 0; i < count; i++)
{
List <Point3D> list = new List <Point3D>(numLines);
double refy = scanlines[biggestIndex][i].Position.Y;
for (int line = 0; line < numLines; line++)
{
list.Add(scanlines[line].GetInterpolateByY(refy, i == 0));
}
ret.Add(Point3D.Average(list));
}
return(ret);
}
protected override StripResult CreateStrip(ScanLine previous, ScanLine current)
{
int count1 = previous.Count;
int count2 = current.Count;
ScanLine ret1 = new ScanLine(previous.LaserID, previous.Count);
ScanLine ret2 = new ScanLine(current.LaserID, current.Count);
int i1 = 0;
int i2 = 0;
while (i1 < count1 && i2 < count2)
{
Point3D p1 = previous[i1];
Point3D p2 = current[i2];
ret1.Add(p1);
ret2.Add(p2);
if (i2 == 0 && p1.Position.Y > p2.Position.Y)
{
i1++;
}
else if (i1 == 0 && p1.Position.Y < p2.Position.Y)
{
i2++;
}
else if (i1 == count1 - 1 && i2 != count2 - 1)
{
i2++;
}
else if (i2 == count2 - 1 && i1 != count1 - 1)
{
i1++;
}
else
{
i1++;
i2++;
}
}
return(new StripResult(ret1, ret2));
}
protected ScanData DoIteration(ScanData source, double pctMin, double pctMax)
{
ScanData ret = new ScanData(source.Count);
ret.AddRange(source);
int count = source.Count;
int doneCount = 0;
int ParallelCount = Settings.Get <Settings>().Read(Settings.SYSTEM, Settings.MAXTHREADS, 8);
Parallel.For(1, count + 1, new ParallelOptions {
MaxDegreeOfParallelism = ParallelCount
}, i =>
{ //for (int i = 1; i <= count; i++)
{
if (this.CancelPending)
{
return;
}
ScanLine current = source[i % count];
ScanLine prev = source[(i - 1) % count];
ScanLine next = source[(i + 1) % count];
int lineCount = current.Count;
ScanLine smoothed = new ScanLine(current.Count);
smoothed.DisplayAsLine = current.DisplayAsLine;
for (int l = 0; l < lineCount; l++)
{
smoothed.Add(Smooth(l, prev, current, next));
}
ret[i % count] = smoothed;
doneCount++;
int pct = (int)(pctMin + ((pctMax - pctMin) * doneCount) / count);
UpdatePercent(pct, ret);
}
});
return(ret);
}
public override ScanLine DoTask(ScanLine source)
{
int count = source.Count;
ScanLine ret = new ScanLine(source.LaserID, count);
for (int i = 0; i < count; i++)
{
Point3D p = source[i];
Vector3d pos = p.Position;
Vector3d norm = p.Normal;
Color col = p.Color;
double r = col.R;
double g = col.G;
double b = col.B;
if (m_Brigthness != 0)
{
r = r + m_Brigthness;
g = g + m_Brigthness;
b = b + m_Brigthness;
}
if (m_Contrast != 0)
{
double factor = (259 * (m_Contrast + 255)) / (255 * (259 - m_Contrast));
r = factor * (r - 128) + 128;
g = factor * (g - 128) + 128;
b = factor * (b - 128) + 128;
}
if (m_Gamma != 0)
{
double gammaCorrection = 1 / m_Gamma;
r = 255 * Math.Pow((r / 255), gammaCorrection);
g = 255 * Math.Pow((g / 255), gammaCorrection);
b = 255 * Math.Pow((b / 255), gammaCorrection);
}
ret.Add(new Point3D(pos, norm, Color.FromArgb(255, Truncate(r), Truncate(g), Truncate(b))));
}
return(ret);
}
public override ScanLine DoTask(ScanLine source)
{
int count =source.Count;
ScanLine ret = new ScanLine(source.LaserID, count);
for (int i = 0; i < count;i++ )
{
Point3D p = source[i];
Vector3d pos = p.Position;
Vector3d norm = p.Normal;
Color col = p.Color;
double r = col.R;
double g = col.G;
double b = col.B;
if (m_Brigthness != 0)
{
r = r + m_Brigthness;
g = g + m_Brigthness;
b = b + m_Brigthness;
}
if(m_Contrast!=0)
{
double factor = (259 * (m_Contrast + 255)) / (255 * (259 - m_Contrast));
r = factor * (r - 128) + 128;
g = factor * (g - 128) + 128;
b = factor * (b - 128) + 128;
}
if(m_Gamma!=0)
{
double gammaCorrection = 1 / m_Gamma;
r = 255 * Math.Pow((r / 255), gammaCorrection);
g = 255 * Math.Pow((g / 255), gammaCorrection);
b = 255 * Math.Pow((b / 255), gammaCorrection);
}
ret.Add(new Point3D(pos, norm, Color.FromArgb(255,Truncate(r),Truncate(g),Truncate(b))));
}
return ret;
}
protected override StripResult CreateStrip(ScanLine previous, ScanLine current)
{
ScanLine ret1 = new ScanLine(previous.LaserID);
ScanLine ret2 = new ScanLine(current.LaserID);
Point3DList all = new Point3DList();
all.AddRange(previous);
all.AddRange(current.Where(p2 => previous.All(p1 => p1.Position.Y != p2.Position.Y)));
all.Sort();
all.Reverse();
// all.AddRange(list1.Union(list2, ));
for (int i = 0; i < all.Count; i++)
{
double y = all[i].Position.Y;
Point3D p1 = previous.GetNearestY(y);
Point3D p2 = current.GetNearestY(y);
ret1.Add(p1);
ret2.Add(p2);
}
return new StripResult(ret1, ret2);
}
protected override StripResult CreateStrip(ScanLine previous, ScanLine current)
{
ScanLine ret1 = new ScanLine(previous.LaserID);
ScanLine ret2 = new ScanLine(current.LaserID);
Point3DList all = new Point3DList();
all.AddRange(previous);
all.AddRange(current.Where(p2 => previous.All(p1 => p1.Position.Y != p2.Position.Y)));
all.Sort();
all.Reverse();
// all.AddRange(list1.Union(list2, ));
for (int i = 0; i < all.Count; i++)
{
double y = all[i].Position.Y;
Point3D p1 = previous.GetNearestY(y);
Point3D p2 = current.GetNearestY(y);
ret1.Add(p1);
ret2.Add(p2);
}
return(new StripResult(ret1, ret2));
}
protected ScanData DoIteration(ScanData source, double pctMin, double pctMax)
{
ScanData ret = new ScanData(source.Count);
ret.AddRange(source);
int count = source.Count;
int doneCount = 0;
int ParallelCount = Settings.Get<Settings>().Read(Settings.SYSTEM, Settings.MAXTHREADS, 8);
Parallel.For(1, count+1, new ParallelOptions { MaxDegreeOfParallelism = ParallelCount }, i =>
{//for (int i = 1; i <= count; i++)
{
if (this.CancelPending) return;
ScanLine current = source[i % count];
ScanLine prev = source[(i - 1) % count];
ScanLine next = source[(i + 1) % count];
int lineCount = current.Count;
ScanLine smoothed = new ScanLine(current.Count);
smoothed.DisplayAsLine = current.DisplayAsLine;
for (int l = 0; l < lineCount; l++)
{
smoothed.Add(Smooth(l, prev, current, next));
}
ret[i % count] = smoothed;
doneCount++;
int pct = (int)(pctMin + ((pctMax - pctMin) * doneCount) / count);
UpdatePercent(pct, ret);
}
});
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
int count = source.Count;
if (count <= 2)
return source;
ScanLine ret = new ScanLine(source.LaserID, source.Count);
ret.DisplayAsLine = source.DisplayAsLine;
uint order = Order;
for (int i = 0; i < count; i++)
{
if (this.CancelPending) return ret;
// Debug.Write("[");
List<Point3D> sourceWindow = new List<Point3D>();
for (int j = 0; j < order; j++)
{
int indice =(int)( i + j - order / 2);
indice = Math.Max(0, Math.Min(indice, count - 1));
// Debug.Write(" "+indice);
sourceWindow.Add(source[indice]);
}
// Debug.WriteLine("]");
ret.Add(Utils.GetMedian(sourceWindow));
}
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
if (source.Count < 5)
{ //not enough points, less than 5 points surely a false positive
return new ScanLine(source.LaserID, 0);
}
ValidityRange range = GetRange(source, Factor);
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D sp = source[i];
bool valid = range.IsValid(GetVal(sp));
#if DEBUG
if (ColoriseOnly)
{
Color col = valid ? Color.WhiteSmoke : Color.Red;
ret.Add(new Point3D(sp.Position, sp.Normal, col));
}
else
#endif
if(valid)
ret.Add(new Point3D(sp.Position, sp.Normal, sp.Color));
}
return ret;
}
/// <summary>
/// Do the task function override
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
public override ScanData DoTask(ScanData source)
{
ScanData ret = new ScanData(source.Count);
UpdatePercent(0, ret);
source.Sort();
int count = source.Count;
//count = 2;
//primitiveType = PrimitiveType.LineStrip;
ScanLine top = new ScanLine(count);
ScanLine bottom = new ScanLine(count);
ScanLine prev = source[0];
top.Add(prev.First());
bottom.Add(prev.Last());
for (int i = 1; i <= count; i++)
{
if (this.CancelPending) return source;
ScanLine current = source[i % count];
StripResult strip = CreateStrip(prev, current);
top.Add(strip.Current.First());
bottom.Add(strip.Current.Last());
prev = strip.Current;
ret.Add(strip.Result);
UpdatePercent((int)((100 * i) / count), ret);
}
if (count <= 2)
return ret;
Point3D topcenter = Point3D.Average(top);
Point3D bottomcenter = Point3D.Average(bottom);
for (int i = 0; i < ret.Count; i++)
{
ret[i].Insert(0, topcenter);
ret[i].Add(bottomcenter);
AdjustNormalFromTriangleStrip(ret[i]);
}
UpdatePercent(100, ret);
return ret;
}
public override ScanLine DoTask(ScanLine source)
{
try
{
//Debug.WriteLine("\nBegin outlier data detection using k-means clustering demo\n");
//Debug.WriteLine("Loading all (height-weight) data into memory");
string[] attributes = new string[] { "X", "Y", "Z" };
Vector3d[] rawData = new Vector3d[source.Count]; // in most cases data will be in a text file or SQl table
for (int i = 0; i < rawData.Length; i++)
{
rawData[i] = new Vector3d(source[i].Position.X, source[i].Position.Y, source[i].Position.Z);
}
//Debug.WriteLine("\nRaw data:\n");
//ShowMatrix(rawData, rawData.Length, true);
int numAttributes = attributes.Length; // 2 in this demo (height,weight)
int numClusters = NumClusters; // vary this to experiment (must be between 2 and number data tuples)
int maxCount = 30; // trial and error
//Debug.WriteLine("\nBegin clustering data with k = " + numClusters + " and maxCount = " + maxCount);
int[] clustering = Cluster(rawData, numClusters, numAttributes, maxCount);
//Debug.WriteLine("\nClustering complete");
//Debug.WriteLine("\nClustering in internal format: \n");
//ShowVector(clustering, true); // true -> newline after display
//Debug.WriteLine("\nClustered data:");
//ShowClustering(rawData, numClusters, clustering, true);
double maxDist = Distance(source.Max, source.Min) / (50);
List <int> outlier = Outlier(rawData, clustering, maxDist);
//Debug.WriteLine("Outlier for cluster 0 is:");
//ShowVector(outlier, true);
//Debug.WriteLine("\nEnd demo\n");
List <int> count = new List <int>(numClusters);
for (int i = 0; i < numClusters; i++)
{
count.Add(0);
}
for (int i = 0; i < clustering.Length; i++)
{
count[clustering[i]]++;
}
int pointCount = source.Count;
List <bool> clusterOk = new List <bool>(numClusters);
for (int i = 0; i < numClusters; i++)
{
double pct = (100f * count[i]) / pointCount;
clusterOk.Add(pct >= this.RejectPercent);
}
ScanLine ret = new ScanLine(source.LaserID, source.Count);
for (int i = 0; i < source.Count; i++)
{
Point3D sp = source[i];
int clusterIndex = clustering[i];
Color col = sp.Color;
#if DEBUG
if (ColoriseOnly)
{
float clamp = (float)((1.0f * clusterIndex) / (numClusters - 1));
col = ColorExtension.ColorFromVector(new Vector4(clamp, clamp, clamp, clamp));
if (!clusterOk[clusterIndex])
{
col = Color.Green;
}
else if (outlier.Contains(i))
{
col = Color.Red;
}
ret.Add(new Point3D(sp.Position, sp.Normal, col));
}
else if (clusterOk[clusterIndex] && !outlier.Contains(i))
#endif
ret.Add(new Point3D(sp.Position, sp.Normal, col));
}
return(ret);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
return(source);
} // Main
