/// <summary>
/// Map points
/// </summary>
/// <param name="laserLocations"></param>
/// <param name="image"></param>
/// <returns></returns>
public ScanLine MapPoints(List <PointF> laserLocations, Bitmap image, bool useCorrection)
{
Point3DList points = Mapper.MapPoints(laserLocations, image, DefaultColor);
ScanLine ret = new ScanLine(Id, points.Count);
ret.DisplayAsLine = true;
if (useCorrection)
{
Matrix4d m = Correction.GetMatrix();
int count = points.Count;
for (int i = 0; i < count; i++)
{
Point3D p = points[i];
Vector3d v = Vector3d.Transform(p.Position, m);
Vector3d n = Vector3d.Transform(p.Normal, m);
n.Normalize();
ret.Add(new Point3D(v, n, p.Color));
}
}
else
{
ret.Add(points);
}
return(ret);
}
/// <summary>
/// Map points
/// </summary>
/// <param name="laserLocations"></param>
/// <param name="image"></param>
/// <returns></returns>
public ScanLine MapPoints(List<PointF> laserLocations, Bitmap image, bool useCorrection)
{
Point3DList points = Mapper.MapPoints(laserLocations, image, DefaultColor);
ScanLine ret = new ScanLine(Id, points.Count);
ret.DisplayAsLine = true;
if (useCorrection)
{
Matrix4d m = Correction.GetMatrix();
int count = points.Count;
for (int i = 0; i < count; i++)
{
Point3D p = points[i];
Vector3d v = Vector3d.Transform(p.Position, m);
Vector3d n = Vector3d.Transform(p.Normal, m);
n.Normalize();
ret.Add(new Point3D(v, n, p.Color));
}
}
else
{
ret.Add(points);
}
return ret;
}
/// <summary>
/// Render thes Slice WireFrame
/// </summary>
/// <param name="context"></param>
protected void RenderAsWireFrame(ref RenderingContext context)
{
PrimitiveType oldPrim = m_Primitive;
m_Primitive = PrimitiveType.LineStrip;
context.ApplyLineDefault();
base.Render(ref context);
ScanLine l1 = new ScanLine(-1, Count / 2);
ScanLine l2 = new ScanLine(-1, Count / 2);
for (int i = 0; i < Count; i++)
{
if (i % 2 == 0)
{
l1.Add(this[i]);
}
else
{
l2.Add(this[i]);
}
}
l1.Render(ref context);
l2.Render(ref context);
m_Primitive = oldPrim;
}
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
/// <summary>
/// Render thes Slice WireFrame
/// </summary>
/// <param name="context"></param>
protected void RenderAsWireFrame(ref RenderingContext context)
{
PrimitiveType oldPrim = m_Primitive;
m_Primitive = PrimitiveType.LineStrip;
context.ApplyLineDefault();
base.Render(ref context);
ScanLine l1 = new ScanLine(-1, Count / 2);
ScanLine l2 = new ScanLine(-1, Count / 2);
for (int i = 0; i < Count; i++)
if (i % 2 == 0)
l1.Add(this[i]);
else
l2.Add(this[i]);
l1.Render(ref context);
l2.Render(ref context);
m_Primitive = oldPrim;
}
