/// <summary>
/// ID's all of SpatialMappingObserver's store meshes as visible or not, updates class metadata.
/// Renders mesh bounds if VisualizeBounds.
/// </summary>
public List <bool> UpdateVertices(Intersector.Frustum SensorView)
{
Density = observer.Density;
// Adjust Sensor.FOV by specified factor...
FOV = new Intersector.ViewVector(FOVFactor * SensorView.FOV.Phi, FOVFactor * SensorView.FOV.Phi);
SensorView.FOV = FOV;
// create fresh lists, metadata
List <bool> visiblilty = new List <bool>();
List <Visualizer.Content> toRender = new List <Visualizer.Content>();
TotalMeshCount = 0;
TotalTriangleCount = 0;
TotalVertexCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
// add colors if necessary
while (VB && BoundColors.Count < observer.SurfaceObjects.Count)
{
BoundColors.Add(Visualizer.RandomColor(BoundsColor1, BoundsColor2));
}
// check meshes for visiblity
for (int i = 0; i < observer.ExtraData.Count; i++)
{
SurfacePoints extras = observer.ExtraData[i];
bool isVisible = MeshInter.AnyInView(extras.IntersectPts, SensorView);
visiblilty.Add(isVisible);
if (isVisible)
{
// update metadata
MeshesInView++;
TrianglesInView += extras.TriangleCount;
VerticesInView += extras.Wvertices.Count;
// setup bounding box visualization
if (VB)
{
toRender.AddRange(Visualizer.CreateMarkers(extras.IntersectPts, MarkerSize, BoundColors[i]));
toRender.AddRange(Visualizer.CreateBoundingLines(extras.BoundsBox, LineSize, BoundColors[i]));
}
}
// update metadata totals
TotalMeshCount++;
TotalTriangleCount += extras.TriangleCount;
TotalVertexCount += extras.Wvertices.Count;
}
if (VB)
{
BoundsVis.Visualize(toRender);
}
return(visiblilty);
}
/// <summary>
/// ID's all of SpatialMappingObserver's store meshes as visible or not, updates class metadata.
/// Renders mesh bounds if VisualizeBounds.
/// </summary>
public List <bool> UpdateVertices(Intersector.Frustum SensorView)
{
Density = observer.Density;
// Adjust Sensor.FOV by specified factor...
FOV = new Intersector.ViewVector(FOVFactor * SensorView.FOV.Phi, FOVFactor * SensorView.FOV.Phi);
SensorView.FOV = FOV;
// create fresh lists, metadata
List <bool> visiblilty = new List <bool>();
TotalMeshCount = 0;
TotalTriangleCount = 0;
TotalVertexCount = 0;
MeshesInView = 0;
TrianglesInView = 0;
VerticesInView = 0;
// check meshes for visiblity
for (int i = 0; i < observer.ExtraData.Count; i++)
{
SurfacePoints extras = observer.ExtraData[i];
bool isVisible = MeshInter.AnyInView(extras.IntersectPts, SensorView);
visiblilty.Add(isVisible);
if (isVisible)
{
// update metadata
MeshesInView++;
TrianglesInView += extras.TriangleCount;
VerticesInView += extras.Wvertices.Count;
}
// update metadata totals
TotalMeshCount++;
TotalTriangleCount += extras.TriangleCount;
TotalVertexCount += extras.Wvertices.Count;
}
return(visiblilty);
}
