/// <summary>
/// Add annotation
/// </summary>
/// <param name="annot">Annotation to be added</param>
/// <param name="renderingMode">Rendering mode, if responsive, viewport will be rendered</param>
public void AddAnnotaion(VelodyneAnnotation annot, SimpleVelodyneViewerRenderingMode renderingMode)
{
this.viewPoints.Add(new ViewPoint(annot));
if (renderingMode == SimpleVelodyneViewerRenderingMode.Responsive)
{
Render();
}
}
/// <summary>
/// Reset the view port and render
/// </summary>
/// <param name="renderingMode">Rendering mode, if responsive, viewport will be rendered</param>
public void ResetView(SimpleVelodyneViewerRenderingMode renderingMode)
{
cam = new Camera();
cloudTransform.Reset();
PointSize = 3;
if (renderingMode == SimpleVelodyneViewerRenderingMode.Responsive)
{
Render();
}
}
/// <summary>
/// Add new points to the view
/// </summary>
/// <param name="points">Collection of VelodynePoint</param>
/// <param name="renderingMode">Rendering mode, if responsive, viewport will be rendered</param>
public void AddNewPoints(IEnumerable <VelodynePoint> points, SimpleVelodyneViewerRenderingMode renderingMode, SimpleVelodyneViewerColorMap colorMap = SimpleVelodyneViewerColorMap.Default)
{
foreach (VelodynePoint pt in points)
{
this.viewPoints.Add(new ViewPoint(pt, colorMap));
}
if (renderingMode == SimpleVelodyneViewerRenderingMode.Responsive)
{
Render();
}
}
/// <summary>
/// Clear the selection
/// Viewport will be rendered if it is specified by RenderingMode
/// </summary>
public void ClearSelection(SimpleVelodyneViewerRenderingMode renderingMode)
{
foreach (ViewPoint pt in this.viewPoints)
{
pt.IsSelected = false;
}
if (renderingMode == SimpleVelodyneViewerRenderingMode.Responsive)
{
Render();
}
}
/// <summary>
/// Remove annotation; annotation is identified by ref
/// </summary>
/// <param name="annot">Annotation object</param>
/// <param name="renderingMode">Rendering mode, if responsive, viewport will be rendered</param>
public void RemoveAnnotaion(VelodyneAnnotation annot, SimpleVelodyneViewerRenderingMode renderingMode)
{
ViewPoint vpToRemove = null;
foreach (ViewPoint pt in viewPoints)
{
if (pt.PointObject == annot)
{
vpToRemove = pt;
break;
}
}
if (vpToRemove != null)
{
this.viewPoints.Remove(vpToRemove);
if (renderingMode == SimpleVelodyneViewerRenderingMode.Responsive)
{
Render();
}
}
}
/// <summary>
/// Add points to the view with removing the previous points, viewport will be rendered
/// </summary>
/// <param name="points">Collection of VelodynePoint</param>
/// <param name="renderingMode">Rendering mode, if responsive, viewport will be rendered</param>
public void ClearAndAddNewPoints(IEnumerable <VelodynePoint> points, SimpleVelodyneViewerRenderingMode renderingMode, SimpleVelodyneViewerColorMap colorMap = SimpleVelodyneViewerColorMap.Default)
{
this.Clear();
AddNewPoints(points, renderingMode, colorMap);
}
