Best Fit 3D

Imports OpenTK
Imports OpenTK.Graphics
Imports OpenTK.Graphics.OpenGL
Imports System.Threading
Imports Emgu.CV
Imports Emgu.CV.Util
Imports Emgu.CV.Structure

Public Class Form1

    Dim filelocation() As String
    Dim framecount As Integer = 0
    Dim MaxNum As Integer = 100
    Dim objectcount As Integer
    Dim points(MaxNum) As List(Of Vector3)
    Dim border(MaxNum) As minmax
    'Dim normals(MaxNum) As List(Of Vector3)
    Dim colors(MaxNum) As Drawing.Color
    Dim Gridpic As Bitmap = New Bitmap(640, 480)
    Dim Gridgfx As Drawing.Graphics = Drawing.Graphics.FromImage(Gridpic)
    Dim pointsset As Boolean = False
    'GL
    Dim rotateX As Integer = 0
    Dim rotatey As Integer = 1
    Dim rotatez As Integer = 0
    Dim positionx As Integer = 0 '250
    Dim positiony As Integer = 0 '-250
    Dim Scalez As Decimal = 1
    Dim zpos As Integer = 0 '-100
    Dim mousecontrol As Boolean = False
    Dim mousestartrotate As Point
    Dim mousestartposition As Point
    Dim mousestartZpos As Integer
    Dim mousecontroltype As Integer = 0
    Dim tbar1 As Integer = 0
    Dim tbar2 As Integer = 1
    'Grid
    Dim zdiff As Single
    Dim Zupper As Single
    Dim ZLower As Single
    Dim gridheight As Integer
    Dim gridwidth As Integer
    Dim DisplayPoints As Boolean = True
    Dim DisplayLines As Boolean = False

    'File Import
    Private Sub ToolStripButton1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles ToolStripButton1.Click

        If pointsset = True Then 'Remove this stuff for multiple files
            Dim result As MsgBoxResult = MsgBox("Close Current Project?", MsgBoxStyle.OkCancel)
            If result = MsgBoxResult.Cancel Then
                Return
            End If
        End If

        OpenFileDialog1.ShowDialog()
    End Sub
    Private Sub OpenFileDialog1_FileOk(ByVal sender As System.Object, ByVal e As System.ComponentModel.CancelEventArgs) Handles OpenFileDialog1.FileOk

        If pointsset = True Then 'Remove this stuff for multiple files
            points(0).Clear()
            objectcount = 0
        End If

        filelocation = OpenFileDialog1.FileNames

        For i2 = 0 To filelocation.Length - 1

            If System.IO.File.Exists(filelocation(i2)) = True Then
                Dim subz As String = filelocation(i2).Substring(filelocation(i2).Length - 3, 3)
                subz = subz.ToLower
                If subz = "stl" Then
                    fileimportSTL(i2)
                End If
                If subz = "obj" Then
                    fileimportOBJ(i2)
                End If
            End If

            Dim maxX, minX, maxY, minY, maxZ, minZ As Single
            maxX = -100000000
            maxY = -100000000
            maxZ = -100000000
            minX = 100000000
            minY = 100000000
            minZ = 100000000

            For i = 0 To points(objectcount - 1).Count - 1
                If points(objectcount - 1)(i).X < minX Then
                    minX = points(objectcount - 1)(i).X
                End If
                If points(objectcount - 1)(i).X > maxX Then
                    maxX = points(objectcount - 1)(i).X
                End If
                If points(objectcount - 1)(i).Y < minY Then
                    minY = points(objectcount - 1)(i).Y
                End If
                If points(objectcount - 1)(i).Y > maxY Then
                    maxY = points(objectcount - 1)(i).Y
                End If
                If points(objectcount - 1)(i).Z < minZ Then
                    minZ = points(objectcount - 1)(i).Z
                End If
                If points(objectcount - 1)(i).Z > maxZ Then
                    maxZ = points(objectcount - 1)(i).Z
                End If
            Next

            Dim tempminmax As minmax
            tempminmax.Xmax = maxX
            tempminmax.Xmin = minX
            tempminmax.Ymax = maxY
            tempminmax.Ymin = minY
            tempminmax.Zmax = maxZ
            tempminmax.Zmin = minZ
            border(objectcount - 1) = tempminmax

        Next

        GlControl1.Invalidate()

    End Sub
    Public Sub fileimportSTL(ByRef objectnum As Integer)
        Dim pointsstring() As Byte

        GC.Collect()
        pointsstring = System.IO.File.ReadAllBytes(filelocation(objectnum))
        GC.Collect()

        'normals(objectcount) = New List(Of Vector3)
        points(objectcount) = New List(Of Vector3)
        colors(objectcount) = Color.Cyan
        Dim pointcount As UInt32 = BitConverter.ToUInt32(pointsstring, 80)
        Dim NX, NY, NZ, X1, X2, X3, Y1, Y2, Y3, Z1, Z2, Z3 As Single

        For i = 84 To pointsstring.Length - 51 Step 50

            'NX = BitConverter.ToSingle(pointsstring, i + 0)
            'NY = BitConverter.ToSingle(pointsstring, i + 4)
            'NZ = BitConverter.ToSingle(pointsstring, i + 8)
            'normals(objectcount).Add(New Vector3(NX, NY, NZ))

            X1 = BitConverter.ToSingle(pointsstring, i + 12)
            Y1 = BitConverter.ToSingle(pointsstring, i + 16)
            Z1 = BitConverter.ToSingle(pointsstring, i + 20)

            X2 = BitConverter.ToSingle(pointsstring, i + 24)
            Y2 = BitConverter.ToSingle(pointsstring, i + 28)
            Z2 = BitConverter.ToSingle(pointsstring, i + 32)

            X3 = BitConverter.ToSingle(pointsstring, i + 36)
            Y3 = BitConverter.ToSingle(pointsstring, i + 40)
            Z3 = BitConverter.ToSingle(pointsstring, i + 44)


            points(objectcount).Add(New Vector3(X1, Y1, Z1))
            points(objectcount).Add(New Vector3(X2, Y2, Z2))
            points(objectcount).Add(New Vector3(X3, Y3, Z3))
        Next

        objectcount = objectcount + 1

        pointsset = True
    End Sub
    Public Sub fileimportOBJ(ByRef objectnum As Integer)
        Dim pointsstring() As String

        GC.Collect()
        pointsstring = System.IO.File.ReadAllLines(filelocation(objectnum))
        GC.Collect()

        points(objectcount) = New List(Of Vector3)
        colors(objectcount) = Color.Cyan

        Dim X1, Y1, Z1 As Single
        Dim C As Color

        For i = 0 To pointsstring.Length - 1
            If pointsstring(i).Length > 2 Then
                If pointsstring(i)(0) = "v" And pointsstring(i)(1) = " " Then

                    Dim tempstring = pointsstring(i)

                    pointsstring(i) = pointsstring(i).Substring(pointsstring(i).IndexOf(" ") + 1)
                    Dim XST As String = pointsstring(i).Substring(0, pointsstring(i).IndexOf(" "))
                    pointsstring(i) = pointsstring(i).Substring(pointsstring(i).IndexOf(" ") + 1)
                    Dim YST As String = pointsstring(i).Substring(0, pointsstring(i).IndexOf(" "))
                    pointsstring(i) = pointsstring(i).Substring(pointsstring(i).IndexOf(" ") + 1)

                    Dim tempint As Integer = pointsstring(i).IndexOf(" ")
                    Dim ZST As String
                    If tempint <> -1 Then
                        ZST = pointsstring(i).Substring(0, pointsstring(i).IndexOf(" "))
                    Else
                        ZST = pointsstring(i)
                    End If

                    X1 = XST
                    Y1 = YST
                    Z1 = ZST

                End If
            End If

            points(objectcount).Add(New Vector3(X1, Y1, Z1))
        Next

        objectcount = objectcount + 1

        pointsset = True
    End Sub

    'Grid Draw
    Public Sub GridDraw()

        If points(0) IsNot Nothing Then

            Dim drawpoints As List(Of Vector3) = New List(Of Vector3)
            For i = 0 To points(0).Count - 1
                If points(0)(i).Z < Zupper And points(0)(i).Z > ZLower Then
                    drawpoints.Add(points(0)(i))
                End If
            Next

            Dim drawdots As List(Of Point) = New List(Of Point)

            Gridgfx.FillRectangle(Brushes.White, 0, 0, gridwidth, gridheight)
            For i = 0 To drawpoints.Count - 1
                Dim x As Single = ((drawpoints(i).X - border(0).Xmin) / (border(0).Xmax - border(0).Xmin)) * gridwidth
                Dim y As Single = ((drawpoints(i).Y - border(0).Ymin) / (border(0).Ymax - border(0).Ymin)) * gridheight
                y = 480 - y
                drawdots.Add(New Point(x, y))
            Next

            drawdots = drawdots.Distinct().ToList()
            For i = 0 To drawdots.Count - 1
                Gridgfx.FillRectangle(Brushes.Black, drawdots(i).X - 0, drawdots(i).Y - 0, 2, 2)
            Next


            If DisplayPoints = True Then
                PictureBox1.Image = Gridpic
            End If
            If DisplayLines = True Then
                Dim imagez = New Image(Of Gray, Byte)(Gridpic)
                Dim imagez2 As Image(Of Gray, Byte) = imagez.Canny(150, 60)
                Dim imagez3 As Image(Of Gray, Byte) = New Image(Of Gray, Byte)(gridwidth, gridheight)
                Dim RhoRes As Double = RhoResNMUD.Value
                Dim Threshold As Double = ThresholdNMUD.Value
                Dim MinLineWidth As Double = MinLineNMUD.Value
                Dim linegap As Integer = LineWidthNMUD.Value
                Dim ThetaRes As Double = Math.PI / 180

                Dim Linez()() As LineSegment2D = imagez2.HoughLinesBinary(RhoRes, ThetaRes, Threshold, MinLineWidth, linegap)
                If Linez(0).Length >= 0 Then
                    For i = 0 To Linez(0).Length - 1
                        imagez3.Draw(Linez(0)(i), New Gray(255), 2)
                    Next
                End If

                PictureBox1.Image = imagez3.ToBitmap
            End If

        End If

    End Sub

    'GL Load
    Private Sub GlControl1_Load(ByVal sender As Object, ByVal e As System.EventArgs) Handles GlControl1.Load

        GL.ClearColor(Color.Black)
        GlControl1.Invalidate()

    End Sub

    'GL mouse control
    Private Sub GlControl1_MouseDown(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles GlControl1.MouseDown
        mousecontrol = True
        If e.Button = MouseButtons.Right Then
            mousecontroltype = 2
            mousestartposition = New Point(MousePosition.X - positionx, MousePosition.Y - positiony)
        ElseIf e.Button = MouseButtons.Left Then
            mousestartrotate = New Point(MousePosition.X - rotatey, MousePosition.Y - rotateX)
            mousecontroltype = 1
        ElseIf e.Button = MouseButtons.Middle Then
            mousestartZpos = MousePosition.Y - zpos
            mousecontroltype = 3
        End If
        Timer1.Enabled = True

    End Sub
    Private Sub GlControl1_MouseMove(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles GlControl1.MouseMove
        If mousecontrol = True Then

            If mousecontroltype = 1 Then
                rotatey = MousePosition.X - mousestartrotate.X
                rotateX = MousePosition.Y - mousestartrotate.Y
            ElseIf mousecontroltype = 2 Then
                positionx = MousePosition.X - mousestartposition.X
                positiony = MousePosition.Y - mousestartposition.Y
            ElseIf mousecontroltype = 3 Then
                zpos = MousePosition.Y - mousestartZpos
            End If

        End If
    End Sub
    Private Sub GlControl1_MouseUp(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles GlControl1.MouseUp
        mousecontrol = False
        mousecontroltype = 0
        Timer1.Enabled = False
        GlControl1.Invalidate()
    End Sub
    Private Sub GlControl1_MouseWheel(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles GlControl1.MouseWheel
        Scalez = Scalez + e.Delta / 240
        If Scalez <= 0 Then
            Scalez = 0.1
        End If
        GlControl1.Invalidate()
    End Sub

    'Object Drawing
    Private Sub GlControl1_Paint(ByVal sender As Object, ByVal e As System.Windows.Forms.PaintEventArgs) Handles GlControl1.Paint
        GL.Clear(ClearBufferMask.ColorBufferBit)
        GL.Clear(ClearBufferMask.DepthBufferBit)

        Dim perspective As Matrix4 = Matrix4.CreatePerspectiveFieldOfView(1.04, 4 / 3, 1, 10000)
        Dim lookat As Matrix4 = Matrix4.LookAt(200, 20, 0, 0, 0, 0, 0, 1, 0)

        GL.MatrixMode(MatrixMode.Projection)
        GL.LoadIdentity()
        GL.LoadMatrix(perspective)

        GL.MatrixMode(MatrixMode.Modelview)
        GL.LoadIdentity()
        GL.LoadMatrix(lookat)

        GL.Viewport(0, 0, GlControl1.Width, GlControl1.Height) 'Size of window
        GL.Rotate(-rotateX, 0, 0, 1)
        GL.Rotate(rotatey, 0, 1, 0)

        GL.Begin(BeginMode.LineLoop)
        GL.Color3(Color.Green)
        GL.Vertex3(50, 0, 0)
        GL.Color3(Color.White)
        GL.Vertex3(50, 0, -50)
        GL.Color3(Color.Red)
        GL.Vertex3(0, 0, -50)
        GL.Color3(Color.White)
        GL.Vertex3(-50, 0, -50)
        GL.Color3(Color.Blue)
        GL.Vertex3(-50, 0, 0)
        GL.Color3(Color.White)
        GL.Vertex3(-50, 0, 50)
        GL.Color3(Color.Yellow)
        GL.Vertex3(0, 0, 50)
        GL.Color3(Color.White)
        GL.Vertex3(50, 0, 50)
        GL.Color3(Color.Green)
        GL.Vertex3(50, 0, 0)
        GL.End()

        GL.Translate((zpos * Scalez), (-positiony * Scalez), (-positionx * Scalez))
        GL.Scale(Scalez, Scalez, Scalez)

        GL.Enable(EnableCap.DepthTest) 'Enable correct Z Drawings
        GL.DepthFunc(DepthFunction.Less) 'Enable correct Z Drawings
        GL.DepthMask(True)

        If pointsset = True Then

            GL.Color3(Color.LimeGreen)
            GL.Begin(BeginMode.LineLoop)
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymax, zdiff))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymax, zdiff))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymin, zdiff))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymin, zdiff))
            GL.End()
            GL.Color3(Color.Blue)
            GL.Begin(BeginMode.LineLoop)
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymax, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymax, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymin, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymin, Zupper))
            GL.End()
            GL.Begin(BeginMode.LineLoop)
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymax, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymax, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymin, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymin, ZLower))
            GL.End()
            GL.Begin(BeginMode.Lines)
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymax, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymax, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymax, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymax, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymin, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmin, border(0).Ymin, Zupper))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymin, ZLower))
            GL.Vertex3(New Vector3(border(0).Xmax, border(0).Ymin, Zupper))
            GL.End()

            GL.Color3(Color.White)

            If DisplayPoints = True Then
                Dim vertz((points(0).Count) * 3) As Single
                For i = 0 To points(0).Count - 1
                    vertz((i * 3) + 0) = points(0)(i).X
                    vertz((i * 3) + 1) = points(0)(i).Y
                    vertz((i * 3) + 2) = points(0)(i).Z
                Next
                GL.EnableClientState(ArrayCap.VertexArray)
                GL.VertexPointer(3, VertexPointerType.Float, 0, vertz)
                GL.DrawArrays(BeginMode.Points, 0, points(0).Count)
                GL.DisableClientState(ArrayCap.VertexArray)
            End If

            If DisplayLines = True Then
                Dim vertz((points(1).Count) * 3) As Single
                For i = 0 To points(1).Count - 1
                    vertz((i * 3) + 0) = points(1)(i).X
                    vertz((i * 3) + 1) = points(1)(i).Y
                    vertz((i * 3) + 2) = points(1)(i).Z
                Next
                GL.EnableClientState(ArrayCap.VertexArray)
                GL.VertexPointer(3, VertexPointerType.Float, 0, vertz)
                GL.DrawArrays(BeginMode.Lines, 0, points(1).Count)
                GL.DisableClientState(ArrayCap.VertexArray)
            End If


        End If

        GraphicsContext.CurrentContext.VSync = True
        GlControl1.SwapBuffers()

    End Sub

    'GL Invalidate Tick
    Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
        GlControl1.Invalidate()
    End Sub

    Structure minmax
        Public Xmin As Single
        Public Xmax As Single
        Public Ymin As Single
        Public Ymax As Single
        Public Zmin As Single
        Public Zmax As Single
    End Structure

    'TrackBar
    Private Sub TrackBar1_Scroll(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles TrackBar1.Scroll
        tbar1 = TrackBar1.Value
        zdiff = (((tbar1 / 100) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + border(0).Zmin
        Zupper = (((tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff
        ZLower = (((-tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff

        GlControl1.Invalidate()
        GridDraw()
    End Sub
    Private Sub TrackBar2_Scroll(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles TrackBar2.Scroll
        tbar2 = TrackBar2.Value
        zdiff = (((tbar1 / 100) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + border(0).Zmin
        Zupper = (((tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff
        ZLower = (((-tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff

        GlControl1.Invalidate()
        GridDraw()
    End Sub

    'Form Load
    Private Sub Form1_Load(ByVal sender As Object, ByVal e As System.EventArgs) Handles Me.Load

        gridheight = PictureBox1.Height
        gridwidth = PictureBox1.Width
        Gridgfx.FillRectangle(Brushes.White, 0, 0, gridwidth, gridheight)
        PictureBox1.Image = Gridpic

    End Sub

    'Grid Buttons
    Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click
        DisplayPoints = True
        DisplayLines = False
        GridDraw()
        GlControl1.Invalidate()
    End Sub
    Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click
        DisplayLines = True
        DisplayPoints = False
        GridDraw()
        GlControl1.Invalidate()
    End Sub

    'Numeric Up Down changes
    Private Sub RhoResNMUD_ValueChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles RhoResNMUD.ValueChanged
        GridDraw()
    End Sub
    Private Sub ThresholdNMUD_ValueChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles ThresholdNMUD.ValueChanged
        GridDraw()
    End Sub
    Private Sub MinLineNMUD_ValueChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MinLineNMUD.ValueChanged
        GridDraw()
    End Sub
    Private Sub LineWidthNMUD_ValueChanged(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles LineWidthNMUD.ValueChanged
        GridDraw()
    End Sub

    Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click
        LineSearchTMR.Enabled = True
        tbar1 = 0
        tbar2 = 1
        points(1) = New List(Of Vector3)
        points(1).Clear()
        objectcount = objectcount + 1
    End Sub

    'Line Search, almost same code as grid draw
    Private Sub LineSearchTMR_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles LineSearchTMR.Tick
        zdiff = (((tbar1 / 100) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + border(0).Zmin
        Zupper = (((tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff
        ZLower = (((-tbar2 / 200) * (border(0).Zmax - border(0).Zmin) / (border(0).Zmax - border(0).Zmin)) * (border(0).Zmax - border(0).Zmin)) + zdiff

        Dim drawpoints As List(Of Vector3) = New List(Of Vector3)
        For i = 0 To points(0).Count - 1
            If points(0)(i).Z < Zupper And points(0)(i).Z > ZLower Then
                drawpoints.Add(points(0)(i))
            End If
        Next

        Dim drawdots As List(Of Point) = New List(Of Point)

        Gridgfx.FillRectangle(Brushes.White, 0, 0, gridwidth, gridheight)
        For i = 0 To drawpoints.Count - 1
            Dim x As Single = ((drawpoints(i).X - border(0).Xmin) / (border(0).Xmax - border(0).Xmin)) * gridwidth
            Dim y As Single = ((drawpoints(i).Y - border(0).Ymin) / (border(0).Ymax - border(0).Ymin)) * gridheight
            y = gridheight - y
            drawdots.Add(New Point(x, y))
        Next

        drawdots = drawdots.Distinct().ToList()
        For i = 0 To drawdots.Count - 1
            Gridgfx.FillRectangle(Brushes.Black, drawdots(i).X - 0, drawdots(i).Y - 0, 2, 2)
        Next

        Dim imagez = New Image(Of Gray, Byte)(Gridpic)
        Dim imagez2 As Image(Of Gray, Byte) = imagez.Canny(150, 60)
        Dim imagez3 As Image(Of Gray, Byte) = New Image(Of Gray, Byte)(gridwidth, gridheight)
        Dim RhoRes As Double = RhoResNMUD.Value
        Dim Threshold As Double = ThresholdNMUD.Value
        Dim MinLineWidth As Double = MinLineNMUD.Value
        Dim linegap As Integer = LineWidthNMUD.Value
        Dim ThetaRes As Double = Math.PI / 180

        Dim Linez()() As LineSegment2D = imagez2.HoughLinesBinary(RhoRes, ThetaRes, Threshold, MinLineWidth, linegap)
        If Linez(0).Length >= 0 Then
            For i = 0 To Linez(0).Length - 1
                imagez3.Draw(Linez(0)(i), New Gray(255), 2)
                Dim p1x As Single = ((Linez(0)(i).P1.X / gridwidth) * (border(0).Xmax - border(0).Xmin)) + border(0).Xmin
                Dim p1y As Single = (((gridheight - Linez(0)(i).P1.Y) / gridheight) * (border(0).Ymax - border(0).Ymin)) + border(0).Ymin
                Dim p2x As Single = ((Linez(0)(i).P2.X / gridwidth) * (border(0).Xmax - border(0).Xmin)) + border(0).Xmin
                Dim p2y As Single = (((gridheight - Linez(0)(i).P2.Y) / gridheight) * (border(0).Ymax - border(0).Ymin)) + border(0).Ymin

                points(1).Add(New Vector3(p1x, p1y, zdiff))
                points(1).Add(New Vector3(p2x, p2y, zdiff))
            Next
        End If
        PictureBox1.Image = imagez3.ToBitmap
        GlControl1.Invalidate()
        tbar1 = tbar1 + 1
        If tbar1 = 101 Then
            LineSearchTMR.Enabled = False
        End If

    End Sub
End Class