/// <summary>
/// Default constructor
/// </summary>
public SimpleVelodyneViewer()
{
InitializeComponent();
viewPoints = new List <ViewPoint>();
cloudTransform = new ObjectTransfromation();
viewPort.MouseWheel += PictureBox_MouseWheel;
RenderingMode = SimpleVelodyneViewerRenderingMode.Responsive;
PointNumForPreview = 10000;
MaximumSnapRadius = 20;
ResetView(SimpleVelodyneViewerRenderingMode.Manual);
// populate help text
lblHelpText.Text = "Help" + Environment.NewLine;
lblHelpText.Text += "Rotate : Left Mouse button" + Environment.NewLine;
lblHelpText.Text += "Z rotation : SHIFT + Mouse wheel" + Environment.NewLine;
lblHelpText.Text += "Zoom : Mouse wheel" + Environment.NewLine;
lblHelpText.Text += "Move : CONTROL + Left mouse button" + Environment.NewLine;
lblHelpText.Text += "Point size : CONTROL + Mouse wheel" + Environment.NewLine;
lblHelpText.Text += "Reset view : Double left click" + Environment.NewLine;
lblHelpText.Text += "Select pts : SHIFT + Left Mouse button + Select" + Environment.NewLine;
lblHelpText.Text += "Reset sele : SHIFT + Double left click" + Environment.NewLine;
}
/// <summary>
/// Transform a point based on the transformation object. Includes rotation and translation
/// </summary>
/// <param name="pt">Points object</param>
/// <param name="trans">Transformation object</param>
/// <returns></returns>
private PointLikeObject Transfrom(PointLikeObject pt, ObjectTransfromation trans)
{
PointLikeObject ptt = Rotate(pt, trans);
ptt.X += trans.dx;
ptt.Y += trans.dy;
ptt.Z += trans.dz;
return(ptt);
}
/// <summary>
/// Rotate a point based on the transformation object. Only rotation, translation is skipped
/// </summary>
/// <param name="pt">Points object</param>
/// <param name="trans">Transformation object</param>
/// <returns>Transformed object; the input object won't be copied</returns>
private PointLikeObject Rotate(PointLikeObject pt, ObjectTransfromation trans)
{
PointLikeObject ptt = Rotate(pt, 0, 0, trans.kappa);
return(Rotate(ptt, trans.alpha, trans.beta, trans.gamma));
}