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MainForm.cs
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MainForm.cs
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using System;
using System.Linq;
using System.Threading;
using System.Collections.Generic;
using System.Windows.Forms;
using System.Diagnostics;
using OpenTK;
using OpenTK.Input;
using OpenTK.Graphics;
using OpenTK.Graphics.OpenGL;
using Triangulation;
namespace LasView {
using Color = System.Drawing.Color;
public class MainForm : GameWindow {
private GUILayer gui = null;
private Geometry points = null;
private Geometry normals = null;
private Camera mainCam = null;
private Vector3 cameraVel = new Vector3();
private LASFile file = null;
private bool firstLoad = true;
private bool leftButton = false;
private List<Triangle> tris = null;
private Vertex[] verts = null;
private long elapsed = 0;
private bool wireframe = false;
private const int NumPoints = 500000;
public MainForm(int width, int height)
: base(width, height, GraphicsMode.Default, "LASView")
{
this.WindowBorder = WindowBorder.Fixed;
this.VSync = VSyncMode.Off;
mainCam = new Camera(0.5f, 10000.0f, MathHelper.PiOver2, new Viewport(width, height));
Thread thread = new Thread(() => {
file = new LASFile(@"38075_00_23.las", NumPoints);
});
thread.IsBackground = true;
thread.Start();
Mouse.ButtonDown += new EventHandler<MouseButtonEventArgs>(OnMouseButtonDown);
Mouse.ButtonUp += new EventHandler<MouseButtonEventArgs>(OnMouseButtonUp);
Mouse.Move += new EventHandler<MouseMoveEventArgs>(OnMouseMove);
Keyboard.KeyDown += new EventHandler<KeyboardKeyEventArgs>(OnKeyDown);
}
private void OnKeyDown(object sender, KeyboardKeyEventArgs e) {
if (e.Key == Key.W) {
wireframe = !wireframe;
GL.PolygonMode(MaterialFace.FrontAndBack, wireframe ? PolygonMode.Line : PolygonMode.Fill);
}
}
private void OnMouseButtonUp(object sender, MouseButtonEventArgs e) {
if (e.Button == MouseButton.Left) {
leftButton = false;
}
}
private void OnMouseButtonDown(object sender, MouseButtonEventArgs e) {
if (e.Button == MouseButton.Left) {
leftButton = true;
}
}
private void OnMouseMove(object sender, MouseMoveEventArgs e) {
if (leftButton) {
mainCam.Yaw += e.XDelta / (float)mainCam.View.Width * MathHelper.TwoPi;
mainCam.Pitch += e.YDelta / (float)mainCam.View.Height * MathHelper.TwoPi;
}
}
protected override void OnLoad(EventArgs e) {
base.OnLoad(e);
GL.ActiveTexture(TextureUnit.Texture0);
GL.Enable(EnableCap.Texture2D);
GL.ActiveTexture(TextureUnit.Texture1);
GL.Enable(EnableCap.Texture2D);
GL.ActiveTexture(TextureUnit.Texture0);
GL.Enable(EnableCap.Blend);
GL.BlendEquation(BlendEquationMode.FuncAdd);
GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
GL.Enable(EnableCap.DepthTest);
GL.Enable(EnableCap.Lighting);
GL.Enable(EnableCap.Light0);
GL.ClearColor(new Color4(0.2f, 0.2f, 0.4f, 1.0f));
GL.Color4(Color4.White);
gui = new GUILayer(mainCam.View);
gui.AddLabel("label", "Loading...", 0, 0, Layer.Layer1, Color.White);
}
protected override void OnResize(EventArgs e) {
base.OnResize(e);
mainCam.View = new Viewport(this.ClientSize.Width, this.ClientSize.Height);
GL.MatrixMode(MatrixMode.Projection);
Matrix4 projection = mainCam.GetProjection();
GL.LoadMatrix(ref projection);
GL.MatrixMode(MatrixMode.Modelview);
gui.ResizeView(mainCam.View);
}
protected override void OnUpdateFrame(FrameEventArgs e) {
base.OnUpdateFrame(e);
bool zInput = false, xInput = false;
float accel = 150.0f;
float maxVel = 700.0f;
float decel = 2000.0f;
if (Keyboard[Key.Up]) {
cameraVel.Z += accel;
zInput = true;
}
if (Keyboard[Key.Down]) {
cameraVel.Z -= accel;
zInput = true;
}
if (Keyboard[Key.Left]) {
cameraVel.X -= accel;
xInput = true;
}
if (Keyboard[Key.Right]) {
cameraVel.X += accel;
xInput = true;
}
if (Math.Abs(cameraVel.Z) > maxVel) {
cameraVel.Z = Math.Sign(cameraVel.Z) * maxVel;
}
if (Math.Abs(cameraVel.X) > maxVel) {
cameraVel.X = Math.Sign(cameraVel.X) * maxVel;
}
float decelMag = (float)(decel * e.Time);
if (!zInput) {
cameraVel.Z -= Math.Sign(cameraVel.Z) * decelMag;
if (Math.Abs(cameraVel.Z) < decelMag) {
cameraVel.Z = 0.0f;
}
}
if (!xInput) {
cameraVel.X -= Math.Sign(cameraVel.X) * decelMag;
if (Math.Abs(cameraVel.X) < decelMag) {
cameraVel.X = 0.0f;
}
}
if (xInput || zInput) {
mainCam.MoveForward((float)(cameraVel.Z * e.Time));
mainCam.Strafe((float)(cameraVel.X * e.Time));
}
if (file != null && file.IsLoaded && firstLoad) {
gui.UpdateObjectText("label", "Loaded LAS File" + Environment.NewLine + "Triangulating...");
verts = new Vertex[file.StoredPoints];
List<Point> points = new List<Point>(verts.Length);
for (int i = 0; i < verts.Length; i++) {
LPoint point = file[(long)i];
points.Add(new Point(
(uint) i,
point.X,
point.Y));
verts[i] = new Vertex() {
X = point.X,
Y = point.Z,
Z = point.Y
};
}
Thread thread = new Thread(() => {
var tri = new Delaunay(points);
tri.PointSelected += (o, p) => gui.UpdateObjectText("label", "Loaded LAS File" + Environment.NewLine + "Triangulating point " + p.PointNum.ToString());
Stopwatch sw = new Stopwatch();
sw.Start();
tris = (List<Triangle>) tri.CalculateTriangles();
sw.Stop();
elapsed = sw.ElapsedMilliseconds;
});
thread.IsBackground = true;
thread.Start();
firstLoad = false;
}
if (tris != null) {
uint[] indices = Triangulate.TriangleListToIndexArray(tris);
GenerateNormals(verts, indices, true);
VertexBuffer buffer = new VertexBuffer(verts, indices);
this.points = new Geometry(BeginMode.Triangles, buffer);
gui.UpdateObjectText("label",
"Loaded LAS File" + Environment.NewLine +
"Filename: " + file.Filename + Environment.NewLine +
"Signature: " + file.Signature + Environment.NewLine +
"Total Points: " + file.NumPoints.ToString() + Environment.NewLine +
"Triangles: " + (buffer.NumIndices / 3).ToString() + Environment.NewLine +
"Triangulation Time: " + elapsed.ToString() + "ms");
tris = null;
verts = null;
}
}
protected override void OnRenderFrame(FrameEventArgs e) {
base.OnRenderFrame(e);
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
Matrix4 transform = mainCam.GetModelView();
GL.LoadMatrix(ref transform);
GL.Light(LightName.Light0, LightParameter.Position, new Vector4(0, 0.3f, 0.4f, 0));
if (points != null) {
points.Draw();
}
if (normals != null) {
normals.Draw();
}
if (wireframe) {
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
}
gui.Draw();
if (wireframe) {
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
}
SwapBuffers();
}
private void GenerateNormals(Vertex[] verts, uint[] indices, bool interpolate) {
for (int i = 2; i < indices.Length; i += 3) {
uint index1 = indices[i - 2],
index2 = indices[i - 1],
index3 = indices[i];
Vector3 normal = CalcNormal(verts[index1], verts[index2], verts[index3]);
if (normal.Y < 0) {
normal *= -1.0f;
}
if (interpolate) {
verts[index1].Normal += normal;
verts[index2].Normal += normal;
verts[index3].Normal += normal;
} else {
verts[index1].Normal = normal;
verts[index2].Normal = normal;
verts[index3].Normal = normal;
}
}
for (int i = 0; i < verts.Length; i++) {
verts[i].Normal = Vector3.NormalizeFast(verts[i].Normal);
}
}
private Vector3 CalcNormal(Vertex v1, Vertex v2, Vertex v3) {
Vector3 first = new Vector3(v2.X - v1.X, v2.Y - v1.Y, v2.Z - v1.Z);
Vector3 second = new Vector3(v3.X - v1.X, v3.Y - v1.Y, v3.Z - v1.Z);
return Vector3.NormalizeFast(Vector3.Cross(first, second));
}
}
}