public void AngleBetweebVectorTest()
{
var v1 = new Vector3d(5, -2, 3);
var angle = System.Math.Ceiling(v1.AngleInDegrees(new Vector3d(6, 4, -3)));
System.Diagnostics.Debug.WriteLine(angle);
Assert.True(angle == 75);
}
void LoadFromSettings()
{
loading = true;
Settings settings = Settings.Get <Settings>();
if (settings != null)
{
this.Enabled = true;
Vector3d cam = new Vector3d(settings.Read(Settings.CAMERA, Settings.X, 0f), settings.Read(Settings.CAMERA, Settings.Y, 50f), settings.Read(Settings.CAMERA, Settings.Z, 220f));
SetNumericUpDownValue(this.CameraZ, (decimal)cam.Z);
SetNumericUpDownValue(this.CameraY, (decimal)cam.Y);
ILaserProxy laser = Settings.Get <ILaserProxy>();
if (laser != null)
{
int currentLaser = this.LaserComboBox.Items.Count == 0 ? -1 : this.LaserComboBox.SelectedIndex;
int lasercount = laser.Count;
this.LaserComboBox.Items.Clear();
for (int i = 0; i < lasercount; i++)
{
this.LaserComboBox.Items.Add(String.Format("Laser {0}", i));
}
currentLaser = Math.Max(0, currentLaser);
this.LaserComboBox.SelectedIndex = currentLaser;
Vector3d laserLoc = new Vector3d(
settings.Read(Settings.LASER(currentLaser), Settings.X, 50f),
settings.Read(Settings.LASER(currentLaser), Settings.Y, (double)this.CameraY.Value),
settings.Read(Settings.LASER(currentLaser), Settings.Z, (double)this.CameraZ.Value)
);
double angle = laserLoc.AngleInDegrees(cam);
if (cam.X < laserLoc.X)
{
angle = -angle;
}
SetNumericUpDownValue(this.LaserX, (decimal)laserLoc.X);
this.LaserYLabel.Text = string.Format("{0:.0}", laserLoc.Y);
SetNumericUpDownValue(this.LaserZ, (decimal)laserLoc.Z);
SetNumericUpDownValue(this.LaserAngle, (decimal)angle);
}
}
else
{
this.Enabled = false;
}
loading = false;
}
void SaveToSettings(bool saveLaser, bool fromLaserPos)
{
Settings settings = Settings.Get <Settings>();
if (settings != null)
{
settings.Write(Settings.CAMERA, Settings.Z, (double)this.CameraZ.Value);
settings.Write(Settings.CAMERA, Settings.Y, (double)this.CameraY.Value);
if (!saveLaser)
{
for (int i = 0; i < this.LaserComboBox.Items.Count; i++)
{
settings.Write(Settings.LASER(i), Settings.Y, (double)this.CameraY.Value);
}
}
else
{
int currentLaser = this.LaserComboBox.Items.Count == 0 ? -1 : this.LaserComboBox.SelectedIndex;
if (currentLaser >= 0)
{
if (fromLaserPos)
{
settings.Write(Settings.LASER(currentLaser), Settings.X, (double)this.LaserX.Value);
settings.Write(Settings.LASER(currentLaser), Settings.Z, (double)this.LaserZ.Value);
}
else
{
Vector3d cam = new Vector3d(settings.Read(Settings.CAMERA, Settings.X, 0f), settings.Read(Settings.CAMERA, Settings.Y, 50f), settings.Read(Settings.CAMERA, Settings.Z, 220f));
Vector3d laserLoc = RotateY(cam, (double)LaserAngle.Value);
double angle = laserLoc.AngleInDegrees(cam);
settings.Write(Settings.LASER(currentLaser), Settings.X, laserLoc.X);
settings.Write(Settings.LASER(currentLaser), Settings.Z, laserLoc.Z);
}
}
}
}
}
private bool Helper_FindNeighbours(ref List <Vertex> pointsTarget, ref List <Vertex> pointsSource, KDTreeVertex kdTree, int keepOnlyPoints)
{
if (!FixedTestPoints)
{
if (KDTreeVertex.KDTreeMode == KDTreeMode.Stark)
{
pointsTarget = kdTree.FindNearest_Stark(pointsSource, pointsTarget);
}
else if (KDTreeVertex.KDTreeMode == KDTreeMode.Rednaxala)
{
pointsTarget = kdTree.FindNearest_Rednaxela(pointsSource, pointsTarget, keepOnlyPoints);
}
else if (KDTreeVertex.KDTreeMode == KDTreeMode.BruteForce)
{
pointsTarget = kdTree.FindNearest_BruteForce(pointsSource, pointsTarget);
}
if (NormalsCheck)
{
//adjust normals - because of Search, the number of PointTarget my be different
int pointsRemoved = 0;
for (int i = pointsTarget.Count - 1; i >= 0; i--)
{
Vector3d vT = pointsTarget[i].Vector;
Vector3d vS = pointsSource[i].Vector;
//double angle = Vector3d.CalculateAngle(vT, vS);
int indexVec = pointsTarget[i].IndexInModel;
Vector3d vTNormal = NormalsTarget[pointsTarget[i].IndexInModel];
//Vector3d vTNormal = NormalsTarget[i];
Vector3d vSNormal = NormalsSource[i];
double angle = vTNormal.AngleInDegrees(vSNormal);
//double angle = vT.AngleInDegrees(vS);
if (Math.Abs(angle) > 30)
{
pointsTarget.RemoveAt(i);
pointsSource.RemoveAt(i);
pointsRemoved++;
}
}
Debug.WriteLine("--NormalCheck: Removed a total of: " + pointsRemoved.ToString());
}
if (pointsTarget.Count != pointsSource.Count)
{
MessageBox.Show("Error finding neighbours, found " + pointsTarget.Count.ToString() + " out of " + pointsSource.Count.ToString());
return(false);
}
}
else
{
//adjust number of points - for the case if there are outliers
int min = pointsSource.Count;
if (pointsTarget.Count < min)
{
min = pointsTarget.Count;
pointsSource.RemoveRange(pointsTarget.Count, pointsSource.Count - min);
}
else
{
pointsTarget.RemoveRange(pointsSource.Count, pointsTarget.Count - min);
}
}
return(true);
}
void LoadFromSettings()
{
loading = true;
Settings settings = Settings.Get<Settings>();
if(settings!=null)
{
this.Enabled=true;
Vector3d cam = new Vector3d(settings.Read(Settings.CAMERA, Settings.X, 0f), settings.Read(Settings.CAMERA, Settings.Y, 50f), settings.Read(Settings.CAMERA, Settings.Z, 220f));
SetNumericUpDownValue(this.CameraZ,(decimal)cam.Z);
SetNumericUpDownValue(this.CameraY,(decimal)cam.Y);
ILaserProxy laser = Settings.Get<ILaserProxy>();
if (laser != null)
{
int currentLaser = this.LaserComboBox.Items.Count == 0 ? -1 : this.LaserComboBox.SelectedIndex;
int lasercount = laser.Count;
this.LaserComboBox.Items.Clear();
for (int i = 0; i < lasercount; i++)
{
this.LaserComboBox.Items.Add(String.Format("Laser {0}", i));
}
currentLaser = Math.Max(0, currentLaser);
this.LaserComboBox.SelectedIndex = currentLaser;
Vector3d laserLoc = new Vector3d(
settings.Read(Settings.LASER(currentLaser), Settings.X, 50f),
settings.Read(Settings.LASER(currentLaser), Settings.Y, (double)this.CameraY.Value),
settings.Read(Settings.LASER(currentLaser), Settings.Z, (double)this.CameraZ.Value)
);
double angle = laserLoc.AngleInDegrees(cam);
if(cam.X < laserLoc.X)
angle = -angle;
SetNumericUpDownValue(this.LaserX,(decimal)laserLoc.X);
this.LaserYLabel.Text = string.Format("{0:.0}",laserLoc.Y);
SetNumericUpDownValue(this.LaserZ,(decimal)laserLoc.Z);
SetNumericUpDownValue(this.LaserAngle,(decimal) angle);
}
}
else
this.Enabled=false;
loading = false;
}
