public XyDataSeries <double, double> GetRobotLidarPoints(LidarDataType type)
{
var dataSeries = new XyDataSeries <double, double>();
if (LidarRawPoints == null)
{
return(dataSeries);
}
IEnumerable <double> listX = new List <double>();
IEnumerable <double> listY = new List <double>();
switch (type)
{
case LidarDataType.RawData:
listX = LidarRawPoints.Select(e => e.Pt.X);
listY = LidarRawPoints.Select(e => e.Pt.Y);
break;
}
if (listX.Count() == listY.Count())
{
dataSeries.AcceptsUnsortedData = true;
dataSeries.Append(listX, listY);
}
return(dataSeries);
}
public void SetLidarMap(List <PointDExtended> lidarMap, LidarDataType dataType)
{
switch (dataType)
{
case LidarDataType.RawData:
this.LidarRawPoints = lidarMap;
break;
case LidarDataType.ProcessedData1:
this.LidarProcessedPoints[0] = lidarMap;
break;
default:
break;
}
}
public void SetLidarMap(List <PointDExtended> lidarMap, LidarDataType type)
{
switch (type)
{
case LidarDataType.RawData:
this.lidarMap = lidarMap;
break;
case LidarDataType.ProcessedData1:
this.lidarProcessedMaps[0] = lidarMap;
break;
case LidarDataType.ProcessedData2:
this.lidarProcessedMaps[1] = lidarMap;
break;
case LidarDataType.ProcessedData3:
this.lidarProcessedMaps[2] = lidarMap;
break;
}
}
//public XyDataSeries<double, double> GetRobotLidarPoints()
//{
// var dataSeries = new XyDataSeries<double, double>();
// if (lidarMap == null)
// return dataSeries;
// //lock (lidarMap)
// {
// var listX = lidarMap.Select(e => e.X);
// var listY = lidarMap.Select(e => e.Y);
// if (listX.Count() == listY.Count())
// {
// dataSeries.AcceptsUnsortedData = true;
// dataSeries.Append(listX, listY);
// }
// }
// return dataSeries;
//}
public XyDataSeries <double, double> GetRobotLidarPoints(LidarDataType type)
{
var dataSeries = new XyDataSeries <double, double>();
if (lidarMap == null)
{
return(dataSeries);
}
IEnumerable <double> listX = new List <double>();
IEnumerable <double> listY = new List <double>();
switch (type)
{
case LidarDataType.RawData:
listX = lidarMap.Select(e => e.Pt.X);
listY = lidarMap.Select(e => e.Pt.Y);
break;
//case LidarDataType.ProcessedData1:
// listX = lidarProcessedMaps[0].Select(e => e.Pt.X);
// listY = lidarProcessedMaps[0].Select(e => e.Pt.Y);
// break;
//case LidarDataType.ProcessedData2:
// listX = lidarProcessedMaps[1].Select(e => e.Pt.X);
// listY = lidarProcessedMaps[1].Select(e => e.Pt.Y);
// break;
//case LidarDataType.ProcessedData3:
// listX = lidarProcessedMaps[2].Select(e => e.Pt.X);
// listY = lidarProcessedMaps[2].Select(e => e.Pt.Y);
// break;
}
if (listX.Count() == listY.Count())
{
dataSeries.AcceptsUnsortedData = true;
dataSeries.Append(listX, listY);
}
return(dataSeries);
}
