public VelodyneAnnotation GetAnnotiation()
{
double sx = 0;
double sy = 0;
double sz = 0;
foreach (VelodynePoint pt in Points)
{
sx += pt.X;
sy += pt.Y;
sz += pt.Z;
}
int n = Points.Count();
VelodyneAnnotation annot = new VelodyneAnnotation(sx / n, sy / n, sz / n);
annot.ID = ID;
annot.Object = this;
return(annot);
}
public void NextFrame()
{
List <VelodynePoint> pts = veloReader.ReadNextFrame();
viewer.ClearAndAddNewPoints(pts, SimpleVelodyneViewerRenderingMode.Manual);
// handle hot frame
if (CurrentHotFrame != null)
{
foreach (Feature feature in CurrentHotFrame.Features)
{
if ((feature.DataStream == this.DataStream) && (feature is VeloFeature))
{
VeloFeature veloFeature = feature as VeloFeature;
VelodyneAnnotation annot = veloFeature.GetAnnotiation();
viewer.AddAnnotaion(annot, SimpleVelodyneViewerRenderingMode.Manual);
viewer.AddNewPoints(veloFeature.Points, SimpleVelodyneViewerColorMap.Selection);
}
}
}
}
private void Viewer_AnnotationClicked(object sender, EventArgs e)
{
if (sender is VelodyneAnnotation)
{
VelodyneAnnotation annot = sender as VelodyneAnnotation;
if (annot.Object is VeloFeature)
{
VeloFeature feature = annot.Object as VeloFeature;
PropertiesWnd wnd = new PropertiesWnd(feature);
DialogResult dlg = wnd.ShowDialog();
if ((dlg == DialogResult.OK) && (!wnd.IsDeleteObject))
{
SetHotFrame(CurrentHotFrame);
}
else if ((dlg == DialogResult.OK) && (wnd.IsDeleteObject))
{
CurrentHotFrame.Features.Remove(feature);
SetHotFrame(CurrentHotFrame);
}
}
}
}
