public Connection(int obsId1, int obsId2, SlamObservation first = null, SlamObservation second = null, int lineId = -1)
{
this.first = first;
this.second = second;
this.lineId = lineId;
this.obsId1 = obsId1;
this.obsId2 = obsId2;
}
public static ObservationPb ToProtobuf(this SlamObservation o, ICSConverter converter)
{
var pb = new ObservationPb
{
Point = o.Point.ToProtobuf(converter),
Orientation = o.Rotation.ToProtobuf(converter),
Message = o.Message,
Filename = o.FileName,
Stats = o.Statistics
};
pb.ObservedPoints.AddRange(o.ObservedPoints);
return(pb);
}
private void ProcessRaycast(IContainer <SlamObservation> container, SlamObservation observation,
Vector3 mousePosition)
{
if (Mouse.current.leftButton.wasReleasedThisFrame)
{
CreateOrShowWindow(container, observation, "Observation #{0}");
}
else
{
if (_floatingViewer.gameObject.activeInHierarchy)
{
return;
}
_floatingViewer.Render((container, observation));
_floatingViewer.transform.position = mousePosition;
}
}
private void CreateOrShowWindow(IContainer <SlamObservation> container, SlamObservation observation,
string title)
{
var v = _pinnedViewers.FirstOrDefault(w => w.ObservationContainer == container.GetHashCode() &&
w.ObservationId == observation.Id);
if (v is null)
{
container.OnRemoved += DestroyObsoleteWindows;
Manager.CreateWindow <ObservationViewer>(title, (viewer, window) =>
{
viewer.Render((container, observation));
_pinnedViewers.Add(
window.GetComponent <ObservationViewer>());
},
observation.Id);
}
else
{
v.GetComponent <Window>().Show();
}
}
