public bool AlignFirstModelFromRegistratioMatrix(Matrix4d myMatrix)
{
//Vector3d v = new Vector3d();
if (this.GLrender.RenderableObjects.Count > 0)
{
RenderableObject o = this.GLrender.RenderableObjects[0];
PointCloud pc1 = o.PointCloud;
myMatrix.TransformPointCloud(pc1);
}
else
{
System.Windows.Forms.MessageBox.Show("Please load two Point Clouds first");
return(false);
}
return(true);
}
public bool SaveSelectedModel()
{
if (this.GLrender.RenderableObjects.Count > 0)
{
RenderableObject o = null;
o = this.GLrender.RenderableObjects[this.GLrender.SelectedModelIndex];
if (o != null)
{
PointCloud pc = o.PointCloud;
pc.ToObjFile(pc.FileNameLong);
}
}
else
{
System.Windows.Forms.MessageBox.Show("please switch to 3D Tab if scanning is in progress - (nothing to save) ");
return(false);
}
return(true);
}
public Matrix4d CalculateRegistrationMatrix(PointCloud pcOriginal)
{
Vector3d v = new Vector3d();
Matrix4d myMatrix = Matrix4d.Identity;
if (this.GLrender.RenderableObjects.Count > 1)
{
RenderableObject o = this.GLrender.RenderableObjects[0];
PointCloud pc1 = o.PointCloud;
myMatrix = SVD.FindTransformationMatrix(v.ArrayVector3ToList(pcOriginal.Vectors), v.ArrayVector3ToList(pc1.Vectors), ICP_VersionUsed.Scaling_Umeyama);
//myMatrix = SVD.FindTransformationMatrix_WithoutCentroids(v.ArrayVector3ToList(pc1.Vectors), v.ArrayVector3ToList(pc2.Vectors), ICP_VersionUsed.Scaling_Umeyama);
}
else
{
System.Windows.Forms.MessageBox.Show("Please load two Point Clouds first");
}
return(myMatrix);
}
private void toolStripChangeColor_Click(object sender, EventArgs e)
{
if (comboModels.SelectedIndex >= 0)
{
ColorDialog colDiag = new ColorDialog();
// Sets the initial color select to the current text color.
// Update the text box color if the user clicks OK
if (colDiag.ShowDialog() == DialogResult.OK)
{
RenderableObject pcr = this.OGLControl.GLrender.RenderableObjects[this.OGLControl.GLrender.SelectedModelIndex];
PointCloud pc = pcr.PointCloud;
pc.SetColor(new Vector3(colDiag.Color.R / 255f, colDiag.Color.G / 255f, colDiag.Color.B / 255f));
this.OGLControl.Refresh();
}
}
else
{
System.Windows.Forms.MessageBox.Show("Please load a 3D object first");
}
}
public void Draw()
{
try
{
if (isDrawing)
{
return;
}
isDrawing = true;
fpsCalc.newFrame();
UpdateFramesPerSecond();
GL.Clear(ClearBufferMask.DepthBufferBit | ClearBufferMask.ColorBufferBit);
GL.ClearColor(GLSettings.BackColor);
GL.Enable(EnableCap.DepthTest);
for (int i = 0; i < this.RenderableObjects.Count; i++)
{
RenderableObject o = this.RenderableObjects[i];
if (AlignCameraToObject || (!cameraIsAlignedToObject && i == 0))
{
AlignCameraToObject = false;
//System.Diagnostics.Debug.WriteLine("----Align camera to object - on first draw");
//o.PointCloudGL.ResetCentroid(true);
Camera.ZNear = Convert.ToSingle(o.PointCloud.BoundingBoxMaxFloat);
//Convert.ToSingle(o.PointCloud.BoundingBoxMinFloat );
Camera.PerspectiveUpdate();
this.Camera.Position = new Vector3(0f, 0f, o.PointCloud.BoundingBoxMaxFloat + 5 * this.Camera.ZNear);
//Camera.SetDirection(new Vector3d(0, 0, 0));
Vector3 axis = Vector3.UnitY;
//this.Camera.Rotate(Convert.ToSingle(Math.PI), axis);
cameraIsAlignedToObject = true;
}
o.MVP = this.Camera.MVP;
o.Scale = 1;
o.Render(this.PrimitiveTypes, PoygonModes);
}
if (GLSettings.ShowAxes)
{
axes.MVP = this.Camera.MVP;
axes.Render(PrimitiveType.Lines, PolygonMode.Line);
}
if (GLSettings.ShowGrid)
{
grid.MVP = this.Camera.MVP;
grid.Render(PrimitiveType.Lines, PolygonMode.Line);
}
if (GLSettings.ShowCameraFOV)
{
cameraFOV.MVP = this.Camera.MVP;
cameraFOV.Render(PrimitiveType.Lines, PolygonMode.Line);
}
//this.DrawAxesLabels();
try
{
this.GLControlInstance.SwapBuffers();
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine("GL Draw Error : " + err.Message);
ErrorCode code = GL.GetError();
if (code.ToString() != "NoError")
{
System.Diagnostics.Debug.WriteLine("GL Draw Error : " + code.ToString());
}
}
}
catch
{
System.Diagnostics.Debug.WriteLine("GL Draw Error : ");
}
isDrawing = false;
}
private void RotateModel(int iObject, float xAngle, float yAngle)
{
RenderableObject o = this.RenderableObjects[iObject];
o.PointCloud.RotateDegrees(xAngle, yAngle, 0f);
}
private void ScaleModel(int iObject, float scale)
{
RenderableObject o = this.RenderableObjects[iObject];
o.PointCloud.Scale(scale);
}