// Add a new 3D-model in Obj-format to track
private void AddObject(out ResultCode result, string fullFileName, float tx, float ty, float tz, float alpha, float beta, float gamma, float scale, float qualityThreshold, float[] templateDistances)
{
int resCode;
Object3D tmpObj = null;
StringBuilder tmpStr = new StringBuilder(fullFileName);
unsafe
{
fixed(float *templateDistancesPtr = templateDistances)
{
resCode = Interop.AddObj3d(tmpStr, tx, ty, tz, alpha, beta, gamma, scale, qualityThreshold, templateDistancesPtr);
}
}
result = (ResultCode)resCode;
if (result == ResultCode.Successful)
{
tmpObj = new Object3D(fullFileName, tx, ty, tz, alpha, beta, gamma, scale);
objects.Add(tmpObj);
}
ObjectAddedEvent.Invoke(new RBOT_ObjectAddedEventArgs("Object added", (ResultCode)resCode, tmpObj));
}