/// <summary>
/// write ply file from depth data and colorInfoPixels (color info)
/// </summary>
/// <param name="colorInfoPixels"></param>
/// <param name="depthData"></param>
/// <param name="path"></param>
/// <param name="fileName"></param>
/// <returns></returns>
public static bool Write_OBJ_Test(PointCloud pc, PointCloud pcTest, string path, string fileName)
{
StringBuilder sb = new StringBuilder();
List <string> lines = new List <string>();
lines.Add("####");
lines.Add("#");
lines.Add("# OBJ File Generated by OpenTKLib");
lines.Add("#");
lines.Add("####");
lines.Add("#");
lines.Add("# Vertices: " + pc.Vectors.GetLength(0).ToString());
lines.Add("#");
lines.Add("####");
if (pc.Colors != null && pc.Colors.GetLength(0) == pc.Vectors.GetLength(0))
{
for (int i = 0; i < pc.Vectors.GetLength(0); ++i)
{
Vector3 v = pc.Vectors[i];
Vector3 vTest = pcTest.Vectors[i];
Vector3 colorVal = pc.Colors[i];
string coordinate = v.X.ToString(CultureInfo) + " " + v.Y.ToString(CultureInfo) + " " + v.Z.ToString(CultureInfo);
string color = string.Empty;
if (colorVal != null)
{
// 255F
color = colorVal[0].ToString(CultureInfo) + " " + colorVal[1].ToString(CultureInfo) + " " + colorVal[2].ToString(CultureInfo) + " ";
}
//string color = pixels[displayIndex].ToString() + " " + pixels[displayIndex + 1].ToString() + " " + pixels[displayIndex + 2].ToString() + " " + pixels[displayIndex + 3].ToString();
lines.Add("v " + coordinate + " " + color);
string coordinate1 = vTest.X.ToString(CultureInfo) + " " + vTest.Y.ToString(CultureInfo) + " " + vTest.Z.ToString(CultureInfo);
lines.Add("- " + coordinate1);
}
}
else
{
for (int i = 0; i < pc.Vectors.GetLength(0); ++i)
{
Vector3 v = pc.Vectors[i];
Vector3 vTest = pcTest.Vectors[i];
string coordinate = v.X.ToString(CultureInfo) + " " + v.Y.ToString(CultureInfo) + " " + v.Z.ToString(CultureInfo);
string coordinate1 = vTest.X.ToString(CultureInfo) + " " + vTest.Y.ToString(CultureInfo) + " " + vTest.Z.ToString(CultureInfo);
//string color = pixels[displayIndex].ToString() + " " + pixels[displayIndex + 1].ToString() + " " + pixels[displayIndex + 2].ToString() + " " + pixels[displayIndex + 3].ToString();
lines.Add("v " + coordinate);
lines.Add("-" + coordinate1);
}
}
System.IO.File.WriteAllLines(path + "\\" + fileName, lines);
return(true);
}
/// <summary>
/// at least source points should be non zero
/// </summary>
/// <param name="myPCLTarget"></param>
/// <param name="myPCLSource"></param>
/// <param name="myPCLResult"></param>
/// <param name="changeColor"></param>
public void Show3PointCloudOpenGL(PointCloud myPCLSource, PointCloud myPCLTarget, PointCloud myPCLResult, bool changeColor)
{
this.OpenGLControl.RemoveAllModels();
//target in green
if (myPCLTarget != null)
{
if (changeColor)
{
myPCLTarget.Colors = ColorExtensions.ToVector3Array(myPCLTarget.Vectors.GetLength(0), 0, 255, 0);
}
ShowPointCloudOpenGL(myPCLTarget, false);
}
if (myPCLSource != null)
{
//source in white
if (changeColor)
{
myPCLSource.Colors = ColorExtensions.ToVector3Array(myPCLSource.Vectors.GetLength(0), 255, 255, 255);
}
ShowPointCloudOpenGL(myPCLSource, false);
}
if (myPCLResult != null)
{
//transformed in red
if (changeColor)
{
myPCLResult.Colors = ColorExtensions.ToVector3Array(myPCLResult.Vectors.GetLength(0), 255, 0, 0);
}
ShowPointCloudOpenGL(myPCLResult, false);
}
}
/// <summary>
/// write ply file from depth data and colorInfoPixels (color info)
/// </summary>
/// <param name="colorInfoPixels"></param>
/// <param name="depthData"></param>
/// <param name="path"></param>
/// <param name="fileName"></param>
/// <returns></returns>
public static bool ToObjFile(PointCloud pc, string path, string fileName)
{
ToObjFile(pc, path + "\\" + fileName);
return(true);
}
public void CalculateCentroidBoundingBox()
{
this.CalculateCentroid();
PointCloud.BoundingBox(this, ref boundingBoxMax, ref boundingBoxMin);
centroidAndBoundingBoxCalculated = true;
}
