private Task DoExport(object o)
{
return(Task.Run(async() =>
{
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool save = false;
Parent.SyncContext.Send(c =>
{
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Matlab (*.mat) | *.mat";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (save)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export data to Matlab!", settings: Parent.MetroDialogSettings);
SlamModel3D.ExportToMatlab(saveFileDialog.FileName);
controller.SetCancelable(false);
await controller.CloseAsync();
}
}));
}
public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
SlamMapEventData slamMapEvent = (SlamMapEventData)eventData.FirstOrDefault(c => c is SlamMapEventData);
SlamStatusEventData slamStatusEvent = (SlamStatusEventData)eventData.FirstOrDefault(c => c is SlamStatusEventData);
if (slamMapEvent != null)
{
if (slamMapEvent.PublishType == SlamPublishType.Frame)
{
SlamModel3D.AddNewFrame(slamMapEvent.Frame);
_FPSCounter.CountFrame();
}
else if (slamMapEvent.PublishType == SlamPublishType.KeyframeWithPoints)
{
SlamModel3D.AddNewKeyFrame(slamMapEvent.KeyFrame);
}
else if (slamMapEvent.PublishType == SlamPublishType.Reset)
{
SlamModel3D.Reset();
}
}
if (slamStatusEvent != null)
{
Parent.SyncContext.Post(o =>
{
Status = slamStatusEvent.Status;
}, null);
}
}
public VisualisationViewModel(MainViewModel parent) : base(parent)
{
_SlamModel3D = new SlamModel3D(Parent.SyncContext);
Parent.IOProxy.Subscribe(this, ProxyEventType.SlamMapEvent);
_Timer = new Timer(300);
_Timer.Elapsed += _Timer_Elapsed;
_Timer.Start();
Parent.IOProxy.Subscribe(this, ProxyEventType.SlamStatusEvent);
}
private void CreateViewport()
{
_SyncContext.Send(d =>
{
_SlamModel3D = new SlamModel3D(_SyncContext, false);
_Viewport3d = new HelixViewport3D();
_Viewport3d.Background = System.Windows.Media.Brushes.White;
_Viewport3d.Camera = new PerspectiveCamera(new Point3D(0, 1, 0.3), new Vector3D(0, -1, -0.3), new Vector3D(0, 0, 1), 45);
_Viewport3d.Children.Add(new DefaultLights());
_Viewport3d.Children.Add(new CoordinateSystemVisual3D()
{
ArrowLengths = 0.1
});
_ModelVisual3d = new ModelVisual3D();
_Viewport3d.Children.Add(_ModelVisual3d);
_CameraPosition = new CoordinateSystemVisual3D();
_CameraPosition.ArrowLengths = 0.1;
_Viewport3d.Children.Add(_CameraPosition);
_TrajectoryKeyFrame = new LinesVisual3D();
_TrajectoryKeyFrame.Color = System.Windows.Media.Colors.Gold;
_TrajectoryKeyFrame.Thickness = 3;
_Viewport3d.Children.Add(_TrajectoryKeyFrame);
_TrajectoryFrame = new LinesVisual3D();
_TrajectoryFrame.Color = System.Windows.Media.Colors.OrangeRed;
_TrajectoryFrame.Thickness = 2;
_Viewport3d.Children.Add(_TrajectoryFrame);
}, null);
}
