public void Reset()
{
_Map.Reset();
_SyncContext.Send(d =>
{
Model = new Model3DGroup();
CoordinateSystems.Clear();
}, null);
}
public void Render()
{
bool showPointCloud = false;
bool showKeyFrameTrajectory = false;
bool showFrameTrajectory = false;
bool onlyNew = true;
_SyncContext.Send(d =>
{
showPointCloud = ShowPointCloud;
showKeyFrameTrajectory = ShowKeyFrameTrajectory;
showFrameTrajectory = ShowFrameTrajectory;
onlyNew = !(showPointCloud && Model != null && (Model as Model3DGroup).Children.Count == 0);
}, null);
if (_Map.HasFrames() || _Map.HasKeyFrames())
{
List <Vector3> pointsKeyFrame = new List <Vector3>();
List <Vector3> pointsFrame = new List <Vector3>();
if (showKeyFrameTrajectory)
{
pointsKeyFrame = _Map.GetTrajectory(TrajectoryType.Optimazation);
}
if (showFrameTrajectory)
{
pointsFrame = _Map.GetTrajectory(TrajectoryType.PreOptimazation);
}
List <GeometryModel3D> pointClouds = new List <GeometryModel3D>();
if (showPointCloud)
{
pointClouds = _Map.GetPointCloud(onlyNew);
}
_SyncContext.Post(d =>
{
TrajectoryKeyFrame = new Point3DCollection(pointsKeyFrame.SelectMany(c => new List <Point3D>()
{
new Point3D(c.X, c.Y, c.Z), new Point3D(c.X, c.Y, c.Z)
}));
if (TrajectoryKeyFrame.Count > 0)
{
TrajectoryKeyFrame.RemoveAt(0);
}
TrajectoryFrame = new Point3DCollection(pointsFrame.SelectMany(c => new List <Point3D>()
{
new Point3D(c.X, c.Y, c.Z), new Point3D(c.X, c.Y, c.Z)
}));
if (TrajectoryFrame.Count > 0)
{
TrajectoryFrame.RemoveAt(0);
}
CameraPosition = new MatrixTransform3D(_Map.LastTransformation().Matrix3D);
if (Model == null || !showPointCloud)
{
Model = new Model3DGroup();
}
foreach (GeometryModel3D pointCloud in pointClouds)
{
(Model as Model3DGroup).Children.Add(pointCloud);
}
if (ShowKeyFrameOrientations)
{
foreach (Visual3D visual3D in _Map.GetKeyFrameOrientations(CoordinateSystems.Count != 0))
{
CoordinateSystems.Add(visual3D);
}
}
else
{
CoordinateSystems.Clear();
}
}, null);
}
else
{
_SyncContext.Post(d =>
{
if (TrajectoryFrame != null && TrajectoryFrame.Count > 0)
{
TrajectoryFrame = new Point3DCollection();
}
if (TrajectoryKeyFrame != null && TrajectoryKeyFrame.Count > 0)
{
TrajectoryKeyFrame = new Point3DCollection();
}
}, null);
}
}