chutian_terminal/FormVtk.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using Kitware.VTK;
using chutian_parking_terminal.front_terminal_manager;
using Sunny.UI;
using tool;

namespace chutian_parking_terminal
{
    public partial class FormVtk : UIForm
    {
        public class Car_info
        {
            public bool correct = false;
            public double cx;
            public double cy;
            public double theta;
            public double wheel_base;
            public double width;
            public double front_theta;
            public Car_info() { }
        }
        class Wheel_info
        {
            double m_radius = 0.35;
            double m_width = 0.2;
            public double[] p1 = new double[3];
            public double[] p2 = new double[3];
            public Wheel_info(double radius, double width)
            {
                m_radius = radius;
                m_width = width;
                p1[0] = -width / 2.0;
                p1[1] = 0;
                p1[2] = radius;
                p2[0] = width / 2.0;
                p2[1] = 0;
                p2[2] = radius;
            }

            public void rotate(double theta)
            {
                double x = Math.Cos(theta) * p1[0] - Math.Sin(theta) * p1[1];
                double y = Math.Sin(theta) * p1[0] + Math.Cos(theta) * p1[1];
                p1[0] = x;
                p1[1] = y;

                x = Math.Cos(theta) * p2[0] - Math.Sin(theta) * p2[1];
                y = Math.Sin(theta) * p2[0] + Math.Cos(theta) * p2[1];
                p2[0] = x;
                p2[1] = y;

            }
            public void translate(PointF pt)
            {
                p1[0] += pt.X;
                p1[1] += pt.Y;
                p2[0] += pt.X;
                p2[1] += pt.Y;
            }

        }

        class ViewData_Source
        {
            public vtkPolyData m_cloud_polydata = vtkPolyData.New();
            public vtkVertexGlyphFilter m_cloud_glyphFilter = vtkVertexGlyphFilter.New();
            public vtkPolyDataMapper m_cloud_mapper = vtkPolyDataMapper.New();
            public vtkActor m_cloud_act = vtkActor.New();

            vtkLineSource m_ls_lt = vtkLineSource.New();
            vtkTubeFilter m_tf_lt = vtkTubeFilter.New();
            vtkPolyDataMapper m_dm_lt = vtkPolyDataMapper.New();
            public vtkActor m_left_front_wheel_act = vtkActor.New();

            vtkLineSource m_ls_rt = vtkLineSource.New();
            vtkTubeFilter m_tf_rt = vtkTubeFilter.New();
            vtkPolyDataMapper m_dm_rt = vtkPolyDataMapper.New();
            public vtkActor m_right_front_wheel_act = vtkActor.New();

            vtkLineSource m_ls_lb = vtkLineSource.New();
            vtkTubeFilter m_tf_lb = vtkTubeFilter.New();
            vtkPolyDataMapper m_dm_lb = vtkPolyDataMapper.New();
            public vtkActor m_left_rear_wheel_act = vtkActor.New();

            vtkLineSource m_ls_rb = vtkLineSource.New();
            vtkTubeFilter m_tf_rb = vtkTubeFilter.New();
            vtkPolyDataMapper m_dm_rb = vtkPolyDataMapper.New();
            public vtkActor m_right_rear_wheel_act = vtkActor.New();

            vtkProperty m_whell_pp = vtkProperty.New();
            PointF rotate_point(PointF pt, double theta)
            {
                double x = Math.Cos(theta) * pt.X - Math.Sin(theta) * pt.Y;
                double y = Math.Sin(theta) * pt.X + Math.Cos(theta) * pt.Y;
                return new PointF((float)x, (float)y);
            }
            public void update_car_info(Car_info car_info)
            {
                if (car_info.correct == false)
                {
                    //隐藏车轮
                    m_left_front_wheel_act.VisibilityOff();
                    m_right_front_wheel_act.VisibilityOff();
                    m_left_rear_wheel_act.VisibilityOff();
                    m_right_rear_wheel_act.VisibilityOff();
                    return;
                }

                double wheel_width = 0.2;
                double radius = 0.35;

                Wheel_info lt = new Wheel_info(radius, wheel_width);
                Wheel_info rt = new Wheel_info(radius, wheel_width);
                Wheel_info lb = new Wheel_info(radius, wheel_width);
                Wheel_info rb = new Wheel_info(radius, wheel_width);

                lt.rotate(car_info.theta + car_info.front_theta);
                rt.rotate(car_info.theta + car_info.front_theta);
                lb.rotate(car_info.theta);
                rb.rotate(car_info.theta);

                float view_width =(float)(car_info.width - wheel_width);
                PointF lt_pt = rotate_point(new PointF((float)(-view_width / 2.0),
                    (float)(car_info.wheel_base / 2.0)), car_info.theta);
                PointF rt_pt = rotate_point(new PointF((float)(view_width / 2.0),
                    (float)(car_info.wheel_base / 2.0)), car_info.theta);
                PointF lb_pt = rotate_point(new PointF((float)(-view_width / 2.0),
                    (float)(-car_info.wheel_base / 2.0)), car_info.theta);
                PointF rb_pt = rotate_point(new PointF((float)(view_width / 2.0),
                    (float)(-car_info.wheel_base / 2.0)), car_info.theta);

                lt.translate(lt_pt);
                rt.translate(rt_pt);
                lb.translate(lb_pt);
                rb.translate(rb_pt);

                lt.translate(new PointF((float)car_info.cx, (float)car_info.cy));
                rt.translate(new PointF((float)car_info.cx, (float)car_info.cy));
                lb.translate(new PointF((float)car_info.cx, (float)car_info.cy));
                rb.translate(new PointF((float)car_info.cx, (float)car_info.cy));

                int line_count = 30;
                //左前轮
                m_ls_lt.SetPoint1(lt.p1[0], lt.p1[1], lt.p1[2]);
                m_ls_lt.SetPoint2(lt.p2[0], lt.p2[1], lt.p2[2]);

                m_tf_lt.SetInputConnection(m_ls_lt.GetOutputPort());
                m_tf_lt.SetRadius(0.3);
                m_tf_lt.SetNumberOfSides(line_count);
                m_tf_lt.CappingOn();

                m_dm_lt.SetInputConnection(m_tf_lt.GetOutputPort());
                m_left_front_wheel_act.SetMapper(m_dm_lt);


                //右前轮

                m_ls_rt.SetPoint1(rt.p1[0], rt.p1[1], rt.p1[2]);
                m_ls_rt.SetPoint2(rt.p2[0], rt.p2[1], rt.p2[2]);

                m_tf_rt.SetInputConnection(m_ls_rt.GetOutputPort());
                m_tf_rt.SetRadius(0.3);
                m_tf_rt.SetNumberOfSides(line_count);
                m_tf_rt.CappingOn();

                m_dm_rt.SetInputConnection(m_tf_rt.GetOutputPort());
                m_right_front_wheel_act.SetMapper(m_dm_rt);

                //左后轮

                m_ls_lb.SetPoint1(lb.p1[0], lb.p1[1], lb.p1[2]);
                m_ls_lb.SetPoint2(lb.p2[0], lb.p2[1], lb.p2[2]);

                m_tf_lb.SetInputConnection(m_ls_lb.GetOutputPort());
                m_tf_lb.SetRadius(0.3);
                m_tf_lb.SetNumberOfSides(line_count);
                m_tf_lb.CappingOn();

                m_dm_lb.SetInputConnection(m_tf_lb.GetOutputPort());
                m_left_rear_wheel_act.SetMapper(m_dm_lb);

                //右后轮

                m_ls_rb.SetPoint1(rb.p1[0], rb.p1[1], rb.p1[2]);
                m_ls_rb.SetPoint2(rb.p2[0], rb.p2[1], rb.p2[2]);

                m_tf_rb.SetInputConnection(m_ls_rb.GetOutputPort());
                m_tf_rb.SetRadius(0.3);
                m_tf_rb.SetNumberOfSides(line_count);
                m_tf_rb.CappingOn();

                m_dm_rb.SetInputConnection(m_tf_rb.GetOutputPort());
                m_right_rear_wheel_act.SetMapper(m_dm_rb);

                m_whell_pp.SetOpacity(0.5);
                m_whell_pp.SetColor(0, 0, 0);
                m_whell_pp.SetLineWidth(2);
                m_whell_pp.SetLighting(true);

                m_whell_pp.SetEdgeColor(0, 0, 0);
                m_whell_pp.SetEdgeVisibility(1);


                m_left_front_wheel_act.SetProperty(m_whell_pp);
                m_right_front_wheel_act.SetProperty(m_whell_pp);
                m_left_rear_wheel_act.SetProperty(m_whell_pp);
                m_right_rear_wheel_act.SetProperty(m_whell_pp);

                //显示车轮
                m_left_front_wheel_act.VisibilityOn();
                m_right_front_wheel_act.VisibilityOn();
                m_left_rear_wheel_act.VisibilityOn();
                m_right_rear_wheel_act.VisibilityOn();
            }
            public void update_cloud(vtkPoints points)
            {
                m_cloud_polydata.SetPoints(points);
                //Color
                m_cloud_glyphFilter.RemoveAllInputs();
                m_cloud_glyphFilter.SetInput(m_cloud_polydata);
                m_cloud_glyphFilter.Update();

                // Visualize
                m_cloud_mapper.RemoveAllInputs();
                m_cloud_mapper.SetInputConnection(m_cloud_glyphFilter.GetOutputPort());

                m_cloud_act.SetMapper(m_cloud_mapper);
                m_cloud_act.GetProperty().SetPointSize(2);

            }
            public void SetCloudColor(Color color)
            {
                m_cloud_act.GetProperty().SetColor(color.R, color.G, color.B);
            }

        }

        object m_lock = new object();
        vtkPoints m_points = new vtkPoints();
        Car_info m_car_info = new Car_info();

        vtkActor m_bound_act = vtkActor.New();
        vtkTextActor m_text_act = vtkTextActor.New();

        ViewData_Source m_view_data_source1 = new ViewData_Source();
        ViewData_Source m_view_data_source2 = new ViewData_Source();

        System.Media.SoundPlayer m_sound_player = new System.Media.SoundPlayer();
        System.Windows.Forms.Timer m_timerGetTime = new System.Windows.Forms.Timer();

        //自适应窗口大小
        AutoResizeForm m_auto_resize_form = new AutoResizeForm();

        bool m_is_correct = false;
        bool isClosed = false;
        Thread m_viewer_ledDisplay_thread;

        bool ArrowsVisible = false;
        Arrows arrows = Arrows.eArrows_unknow;
        public enum Arrows
        {
            /// <summary>
            /// 默认
            /// </summary>
            eArrows_unknow      =-1,
            /// <summary>
            /// 箭头向左
            /// </summary>
            eArrows_left        =0,
            /// <summary>
            /// 箭头向右
            /// </summary>
            eArrows_right       = 1,
            /// <summary>
            /// 箭头向上
            /// </summary>
            eArrows_top         = 2,
            /// <summary>
            /// 箭头向下
            /// </summary>
            eArrows_down        = 3,
            /// <summary>
            /// 箭头向左上
            /// </summary>
            eArrows_upperleft   = 4,
            /// <summary>
            /// 箭头向右上
            /// </summary>
            eArrows_upperright  = 5,
            /// <summary>
            /// 箭头向左下
            /// </summary>
            eArrows_lowerleft   = 6,
            /// <summary>
            /// 箭头向右下
            /// </summary>
            eArrows_lowerright  = 7,
        };
        public void isCorrect(bool t_is_correct)
        {
            m_is_correct = t_is_correct;
        }
        /// <summary>
        /// 设置箭头
        /// </summary>
        /// <param name="t_arrows"></param>
        public void SetArrows(Arrows t_arrows)
        {
            arrows = t_arrows;
        }
        public void isArrowsVisible(bool visible)
        {
            ArrowsVisible = visible;
        }
        public void set_tip_car_label(string str)
        {
            this.Invoke(new Action(() =>
            {
                this.tip_car_label.Text = str;
            }));

        }
        public void set_car_data_label(string str)
        {
            this.Invoke(new Action(() =>
            {
                this.Tip_Label.Text = str;
            }));

        }
        public void set_tip_label(string str)
        {
            this.Invoke(new Action(() =>
            {
                this.Statu_Label.Text = str;
            }));

        }
        public void SetCloud(vtkPoints points)
        {
            lock (m_lock)
            {
                m_points.DeepCopy(points);
            }
        }
        public void SetCloudColor(Color color)
        {
            lock (m_lock)
            {
                m_view_data_source1.SetCloudColor(color);
                m_view_data_source2.SetCloudColor(color);

            }
        }
        public void SetCarInfo(Car_info car_info)
        {
            lock (m_lock)
            {
                m_car_info = car_info;
            }
        }
        public Color GetColor(float percentage)
          {
            var red = (percentage > 50 ? 1 - 2 * (percentage - 50) / 100.0 : 1.0) * 255;
            var green = (percentage > 50 ? 1.0 : 2 * percentage / 100.0) * 255;
            var blue = 0.0;
            Color result = Color.FromArgb((int)red, (int)green, (int)blue);
            return result;
        }
        public FormVtk()
        {
            InitializeComponent();
            m_viewer_ledDisplay_thread = new Thread(viewer_ledDisplay);
        }
        public void viewer_ledDisplay()
        {
            while (!isClosed)
            {
                try
                {
                    this.Invoke(new Action(() =>
                    {
 

                        if (m_is_correct)
                        {
                            Statu_Label.Text = "车已停好！";
                            Statu_Label.ForeColor = GetColor(100);
                            show_correct_tip_image();
                            SetCloudColor(GetColor(100));
                        }
                        else
                        {
                            Statu_Label.ForeColor = GetColor(0);
                            show_error_tip_image();
                            SetCloudColor(GetColor(0));
                        }
                        if (ArrowsVisible)
                        {
                            switch (arrows)
                            {
                                case Arrows.eArrows_top: 
                                    {
                                        this.top_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_xiangshang.png");
                                        top_pictureBox.Visible = true;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_down:
                                    {
                                        this.down_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_xiangxia.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = true;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_left:
                                    {
                                        this.left_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_xiangzuo.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = true;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_right:
                                    {
                                        this.right_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_xiangyou.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = true;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_upperleft:
                                    {
                                        this.upperleft_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_zuoshang.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = true;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_upperright:
                                    {
                                        this.upperright_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_youshang.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = true;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_lowerleft:
                                    {
                                        this.lowerleft_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_zuoxia.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = true;
                                        lowerright_pictureBox.Visible = false;
                                    }
                                    break;
                                case Arrows.eArrows_lowerright:
                                    {
                                        this.lowerright_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/arrows/" + "jiantou_youxia.png");
                                        top_pictureBox.Visible = false;
                                        down_pictureBox.Visible = false;
                                        left_pictureBox.Visible = false;
                                        right_pictureBox.Visible = false;
                                        upperleft_pictureBox.Visible = false;
                                        upperright_pictureBox.Visible = false;
                                        lowerleft_pictureBox.Visible = false;
                                        lowerright_pictureBox.Visible = true;
                                    }
                                    break;
                            }
                        }
                        else
                        {
                            top_pictureBox.Visible = false;
                            down_pictureBox.Visible = false;
                            left_pictureBox.Visible = false;
                            right_pictureBox.Visible = false;
                            upperleft_pictureBox.Visible = false;
                            upperright_pictureBox.Visible = false;
                            lowerleft_pictureBox.Visible = false;
                            lowerright_pictureBox.Visible = false;
                        }
                    }));
                }
                catch { }
                Thread.Sleep(100);
            }
        }
        void viewer_car(Car_info car_info)
        {
            try
            {
                vtkRenderer renderer = renderWindowControl1.RenderWindow.GetRenderers().GetFirstRenderer();


                renderer.RemoveActor(m_view_data_source1.m_left_front_wheel_act);
                renderer.RemoveActor(m_view_data_source1.m_right_front_wheel_act);
                renderer.RemoveActor(m_view_data_source1.m_left_rear_wheel_act);
                renderer.RemoveActor(m_view_data_source1.m_right_rear_wheel_act);

                m_view_data_source1.update_car_info(car_info);
                m_view_data_source2.update_car_info(car_info);


                renderer.AddActor(m_view_data_source1.m_left_front_wheel_act);
                renderer.AddActor(m_view_data_source1.m_right_front_wheel_act);
                renderer.AddActor(m_view_data_source1.m_left_rear_wheel_act);
                renderer.AddActor(m_view_data_source1.m_right_rear_wheel_act);

                renderWindowControl1.RenderWindow.Render();
            }
            catch (Exception e)
            {
            }

        }

        public void SetBound(double minx, double maxx, double miny,
            double maxy, double minz, double maxz)
        {
            vtkCubeSource cube = vtkCubeSource.New();
            cube.SetBounds(minx, maxx, miny, maxy, minz, maxz);

            vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
            mapper.SetInputConnection(cube.GetOutputPort());
            m_bound_act.SetMapper(mapper);

            vtkProperty pp = vtkProperty.New();
            pp.SetEdgeColor(1, 0, 0);
            pp.SetEdgeVisibility(1);

            pp.SetColor(1, 1, 1);
            pp.SetLineWidth(2);
            pp.SetOpacity(0.2);

            m_bound_act.SetProperty(pp);

            renderWindowControl1.Refresh();
        }

        private void viewer_cloud(vtkPoints points)
        {
            if (points.GetReferenceCount() == 0)
                return;
            try
            {
                vtkRenderer renderer = renderWindowControl1.RenderWindow.GetRenderers().GetFirstRenderer();
                renderer.RemoveActor(m_view_data_source1.m_cloud_act);

                m_view_data_source1.update_cloud(points);
                m_view_data_source2.update_cloud(points);

                renderer.AddActor(m_view_data_source1.m_cloud_act);

                renderWindowControl1.RenderWindow.Render();
            }
            catch (Exception e)
            {
            }

        }
       
        private void renderWindowControl1_Load(object sender, EventArgs e)
        {
            vtkRenderer renderer = renderWindowControl1.RenderWindow.GetRenderers().GetFirstRenderer();
            vtkInteractorStyleTrackballCamera style = vtkInteractorStyleTrackballCamera.New();  //移动摄像头

            vtkAxesActor axesActor = vtkAxesActor.New();     //  创建“坐标”角色

            axesActor.SetScale(1.0, 1.0, 1.0);
            axesActor.AxisLabelsOff();
            renderer.AddActor(axesActor); //  渲染坐标角色

            renderer.AddActor(m_view_data_source1.m_cloud_act);

            renderer.AddActor(m_view_data_source1.m_left_front_wheel_act);
            renderer.AddActor(m_view_data_source1.m_right_front_wheel_act);
            renderer.AddActor(m_view_data_source1.m_left_rear_wheel_act);
            renderer.AddActor(m_view_data_source1.m_right_rear_wheel_act);
            renderer.AddActor(m_text_act);
            renderer.AddActor(m_bound_act);
            renderer.SetBackground(1, 1, 1);
            renderer.ResetCamera();
            renderer.GetActiveCamera().Zoom(1.3);


            vtkRenderWindowInteractor renderWindowInteractor = renderWindowControl1.RenderWindow.MakeRenderWindowInteractor();
            renderWindowInteractor.SetInteractorStyle(style); //交互模式  重要！
            renderWindowInteractor.Initialize();
            //renderWindowControl1.Enabled = false;
            return;
            // Create a simple sphere. A pipeline is created.
            /*vtkSphereSource sphere = vtkSphereSource.New();
            sphere.SetThetaResolution(8);
            sphere.SetPhiResolution(16);

            vtkShrinkPolyData shrink = vtkShrinkPolyData.New();
            shrink.SetInputConnection(sphere.GetOutputPort());
            shrink.SetShrinkFactor(0.9);

            vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
            mapper.SetInputConnection(shrink.GetOutputPort());

            // The actor links the data pipeline to the rendering subsystem
            vtkActor actor = vtkActor.New();
            actor.SetMapper(mapper);
            actor.GetProperty().SetColor(1, 0, 0);

            // Create components of the rendering subsystem
            //
            vtkRenderer ren1 = renderWindowControl1.RenderWindow.GetRenderers().GetFirstRenderer();
            vtkRenderWindow renWin = renderWindowControl1.RenderWindow;

            // Add the actors to the renderer, set the window size
            //
            ren1.AddViewProp(actor);
            renWin.SetSize(250, 250);
            renWin.Render();
            vtkCamera camera = ren1.GetActiveCamera();
            camera.Zoom(1.5);*/
        }

        private void renderWindowControl1_Paint(object sender, PaintEventArgs e)
        {
            //viewer_cloud();
        }

        //private void set_camera_Click(object sender, EventArgs e)
        //{
        //    double x = double.Parse(xbox.Text);
        //    double y = double.Parse(ybox.Text);
        //    double z = double.Parse(zbox.Text);


        //    double dx = double.Parse(dxbox.Text);
        //    double dy = double.Parse(dybox.Text);
        //    double dz = double.Parse(dzbox.Text);

        //    vtkCamera camera = new vtkCamera(); //-4.1,  0.5,2.0,  0.35,0 0.9
        //    camera.SetPosition(x, y, z);
        //    camera.SetViewUp(dx, dy, dz);
        //    vtkRenderer renderer = renderWindowControl2.RenderWindow.GetRenderers().GetFirstRenderer();
        //    renderer.SetActiveCamera(camera);

        //    renderWindowControl2.Refresh();


        //}

        //private void getdirection_Click(object sender, EventArgs e)
        //{

        //    vtkRenderer renderer = renderWindowControl2.RenderWindow.GetRenderers().GetFirstRenderer();
        //    double[] d = renderer.GetActiveCamera().GetViewUp();
        //    double[] p = renderer.GetActiveCamera().GetPosition();

        //    xbox.Text = p[0].ToString();
        //    ybox.Text = p[1].ToString();
        //    zbox.Text = p[2].ToString();

        //    dxbox.Text = d[0].ToString();
        //    dybox.Text = d[1].ToString();
        //    dzbox.Text = d[2].ToString();
        //}

        //private void btn_car_Click(object sender, EventArgs e)
        //{
        //    Car_info car_info = new Car_info();
        //    car_info.correct = true;
        //    car_info.cx = double.Parse(cx_box.Text);
        //    car_info.cy = double.Parse(cy_box.Text);
        //    car_info.theta = double.Parse(theta_box.Text) / 180.0 * Math.PI;
        //    car_info.wheel_base = double.Parse(wheel_base_box.Text);
        //    car_info.width = double.Parse(width_box.Text);
        //    car_info.front_theta = double.Parse(front_theta_box.Text) / 180.0 * Math.PI;

        //    viewer_car(car_info);

        //}

        private void button_play_sound_Click(object sender, EventArgs e)
        {
            //UILocalize.InfoTitle = "提示";
            //UILocalize.SuccessTitle = "正确";
            //UILocalize.WarningTitle = "警告";
            //UILocalize.ErrorTitle = "错误";
            //UILocalize.AskTitle = "提示";
            //UILocalize.InputTitle = "输入";
            //UILocalize.CloseAll = "全部关闭";
            //UILocalize.OK = "确定";
            //UILocalize.Cancel = "取消";
            //UILocalize.GridNoData = "[ 无数据 ]";
            //UILocalize.GridDataLoading = "数据加载中 ......";
            //UILocalize.GridDataSourceException = "数据源必须为DataTable或者List";


            m_sound_player.SoundLocation = "C:\\Users\\Administrator\\Desktop\\文件\\kldykxq.wav";
            m_sound_player.Load();
            m_sound_player.PlayLooping();
        }

        private void button_stop_sound_Click(object sender, EventArgs e)
        {
            m_sound_player.Stop();
        }
        public void HandleTime(Object myObject, EventArgs myEventArgs)
        {
            lock (m_lock)
            {
                viewer_cloud(m_points);
                viewer_car(m_car_info);
            }
        }

        private void FormVtk_Load(object sender, EventArgs e)
        {
            //设置定时器属性
            m_timerGetTime.Tick += new EventHandler(HandleTime);
            m_timerGetTime.Interval = 50;
            m_timerGetTime.Enabled = true;
            //开启定时器
            m_timerGetTime.Start();
            m_viewer_ledDisplay_thread.Start();
            //设置最大化
            //this.WindowState = FormWindowState.Maximized;

            var screens = Screen.AllScreens;

            m_auto_resize_form.controllInitializeSize(this);


            /*//若当前只有一块显示器

            if (Screen.AllScreens.Length < 2)

                return;

            //0主显示器（系统默认，可设置哪块显示器为主显示器）1扩展显示器
            this.Location = new Point(screens[1].Bounds.Left, screens[1].Bounds.Top);  

            this.FormBorderStyle = FormBorderStyle.None;     //设置窗体为无边框样式
            this.WindowState = FormWindowState.Maximized;    //最大化窗体*/

        }
        private void FormVtk_FormClosing(object sender, FormClosingEventArgs e)
        {
            m_timerGetTime.Stop();
            isClosed = true;
        }
        public void FormVtkUninit()
        {
            isClosed = true;
            m_viewer_ledDisplay_thread.Abort();
            m_timerGetTime.Stop();
        }

        private void FormVtk_SizeChanged(object sender, EventArgs e)
        {
            m_auto_resize_form.controlAutoSize(this);
        }

        public void show_correct_tip_image()
        {
            this.results_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/tipimage/" + "0.ico");
        }
        public void show_error_tip_image()
        {
            this.results_pictureBox.Image = Image.FromFile(System.AppDomain.CurrentDomain.BaseDirectory + "/Resource/tipimage/" + "1.ico");

        }
        
    }
}