/// <summary> /// basic constructor /// </summary> public LidarOpenGlForm(int _bodyModelIndex) { InitializeComponent(); // initialization graph this._graph = new FieldMap.Graph(); this._graph.CreateGraph(zgc1); // initialization OpenGl variable this.bodyModelIndex = _bodyModelIndex; this._map = new Body3DMap(_bodyModelIndex, false); this.loaded = false; this.transX = 0; this.transY = 0; this.transZ = 0; this.angle = 0.0; //this.crop = new List<SickLidar.CartesianPoint>(); cropPoints = new Vector3[361 * 50000]; groundPoints = new Vector3[361 * 50000]; edgePoints = new Vector3[2 * 50000]; idealPathPoints = new Vector3[2 * 50000]; this.cropCnt = 0; this.cropOffset = 0; this.groundOffset = 0; //this.edgeOffset = 0; this.isManualControl = false; }
/// <summary> /// Constructor /// </summary> /// <param name="_bodyModelIndex"></param> /// <param name="_read_from_file"></param> public AugerOpenGlForm(int _bodyModelIndex, bool _read_from_file) { InitializeComponent(); this._map = new Body3DMap(_bodyModelIndex, true); this._auger = new Auger(60.0, 0.0, 1081, 400, 400); // initialization OpenGl variable this.bodyModelIndex = _bodyModelIndex; this.read_from_file = _read_from_file; this.isManualControl = false; this.loaded = false; this.transX = 0; this.transY = 0; this.transZ = 0; this.angle = 0.0; this._graphXZ = new SickLidar.Graph(); this._graphXZ.CreateHokuyoGraph(this.zg1, "Cartesian Coordinates System, XZ Plane", "X(m)", "Z(m)"); }