public void Present(PacketPb data, ICSConverter converter)
{
MainThreadInvoker.Enqueue(() => _info.Clear());
IEnumerable <ICloudItem> objects = Pkg2Pts(data, converter).ToArray();
MainThreadInvoker.Enqueue(() => _info.Render((data.Message, objects)));
}
public static Vector3Pb ToProtobuf(this Vector3 v, ICSConverter converter)
{
converter?.ConvertBack(ref v);
return(new Vector3Pb {
X = v.x, Y = v.y, Z = v.z
});
}
public static IEnumerable <SlamObservationDiff> ExtractObservations(this PacketPb packet,
ICSConverter converter,
string imageDir)
{
foreach (var o in packet.Observations.Data)
{
SlamObservationDiff observation = o;
if (observation.Point.Position.HasValue)
{
observation.Point.Position = converter?.Convert(observation.Point.Position.Value);
}
if (observation.Rotation.HasValue)
{
observation.Rotation = converter?.Convert(observation.Rotation.Value);
}
if (!string.IsNullOrEmpty(observation.FileName) &&
!Path.IsPathRooted(observation.FileName))
{
observation.FileName = Path.Combine(imageDir, observation.FileName);
}
yield return(observation);
}
}
public static TrackedObjPb ToProtobuf(this SlamTrackedObject o, ICSConverter converter)
=> new TrackedObjPb
{
Id = o.Id,
Position = o.Position.ToProtobuf(converter),
Orientation = o.Rotation.ToProtobuf(converter),
Color = o.Color,
Message = o.Message
};
public static InfinitePlanePb ToProtobuf(this SlamInfinitePlane p, ICSConverter converter)
=> new InfinitePlanePb
{
Color = p.Color,
Id = p.Id,
Message = p.Message,
Normal = p.Normal.ToProtobuf(converter),
Offset = p.Offset.ToProtobuf(converter)
};
public static Vector4Pb ToProtobuf(this Quaternion q, ICSConverter converter)
{
if (converter != null)
{
var v = Vector3.zero;
converter.ConvertBack(ref v, ref q);
}
return(new Vector4Pb {
X = q.x, Y = q.y, Z = q.z, W = q.w
});
}
protected PacketPb CreateUpdatedPacket <TCloudItem>(IList <TCloudItem> args, int timestamp,
ICSConverter converter)
where TCloudItem : struct, ICloudItem
{
var packet = new PacketPb
{
Action = PacketPb.Types.ActionType.Update,
Timestamp = timestamp,
};
SetData(args, packet, converter);
return(packet);
}
public static ObservationPb ToProtobuf(this SlamObservation o, ICSConverter converter)
{
var pb = new ObservationPb
{
Point = o.Point.ToProtobuf(converter),
Orientation = o.Rotation.ToProtobuf(converter),
Message = o.Message,
Filename = o.FileName,
Stats = o.Statistics
};
pb.ObservedPoints.AddRange(o.ObservedPoints);
return(pb);
}
public static IEnumerable <SlamInfinitePlaneDiff> ExtractInfinitePlanes(this PacketPb packet,
ICSConverter converter = null)
{
foreach (var p in packet.InfinitePlanes.Data)
{
SlamInfinitePlaneDiff plane = p;
if (plane.Offset.HasValue)
{
plane.Offset = converter?.Convert(plane.Offset.Value);
}
if (plane.Normal.HasValue)
{
plane.Normal = converter?.Convert(plane.Normal.Value);
}
yield return(plane);
}
}
public static IEnumerable <SlamLineDiff> ExtractLines(this PacketPb packet, ICSConverter converter = null)
{
foreach (var l in packet.Lines.Data)
{
SlamLineDiff line = l;
if (line.Point1.Position.HasValue)
{
line.Point1.Position = converter?.Convert(line.Point1.Position.Value);
}
if (line.Point2.Position.HasValue)
{
line.Point2.Position = converter?.Convert(line.Point2.Position.Value);
}
yield return(line);
}
}
public static IEnumerable <SlamTrackedObjectDiff> ExtractTrackedObjects(this PacketPb packet,
ICSConverter converter = null)
{
foreach (var o in packet.TrackedObjs.Data)
{
SlamTrackedObjectDiff trackedObject = o;
if (trackedObject.Position.HasValue)
{
trackedObject.Position = converter?.Convert(trackedObject.Position.Value);
}
if (trackedObject.Rotation.HasValue)
{
trackedObject.Rotation = converter?.Convert(trackedObject.Rotation.Value);
}
yield return(trackedObject);
}
}
public DataParser(ICSConverter converter)
{
m_converter = converter;
}
public TrackingPackageParser(ICSConverter converter) : base(converter)
{
}
/// <summary> Sets converter for this parser and its successors. </summary>
/// <param name="converter"> Converter to set. </param>
public virtual void SetConverter(ICSConverter converter)
{
Converter = converter;
Successor?.SetConverter(converter);
}
public static LinePb ToProtobuf(this SlamLine l, ICSConverter converter)
=> new LinePb
{
Pt1 = l.Point1.ToProtobuf(converter), Pt2 = l.Point2.ToProtobuf(converter)
};
public InfoCommand(SlamDataInfoPresenter presenter, PacketPb packet, ICSConverter converter)
{
_presenter = presenter;
_packet = packet;
_converter = converter;
}
public SlamPackageParser(ICSConverter converter) : base(converter)
{
}
public static PointPb ToProtobuf(this SlamPoint p, ICSConverter converter)
=> new PointPb
{
Id = p.Id, Position = p.Position.ToProtobuf(converter), Color = p.Color, Message = p.Message ?? ""
};
public InfinitePlanesMapManager(IContainer <SlamInfinitePlane> container, ICSConverter converter)
: base(container)
{
_converter = converter;
}
public LinesMapManager(IContainer <SlamLine> container, ICSConverter converter) : base(container)
{
_converter = converter;
}
public ObservationsMapManager(IConnectableObjectsContainer <SlamObservation> container, ICSConverter converter) :
base(container)
{
_converter = converter;
}
public PointsMapManager(IConnectableObjectsContainer <SlamPoint> container, ICSConverter converter)
: base(container)
{
_converter = converter;
}
public SnapshotContainer(string displayName, IEnumerable <ISourceTree> children, ICSConverter converter)
{
_converter = converter;
DisplayName = displayName;
Children = children;
}
public static IEnumerable <SlamPointDiff> ExtractPoints(this PacketPb packet, ICSConverter converter = null)
{
foreach (var p in packet.Points.Data)
{
SlamPointDiff point = p;
if (point.Position.HasValue)
{
point.Position = converter?.Convert(point.Position.Value);
}
yield return(point);
}
}
public TrackedObjsMapManager(IContainer <SlamTrackedObject> container, ICSConverter converter) : base(container)
{
_converter = converter;
}
