private void toolStripButton4_Click(object sender, EventArgs e)
{
if (CurrentHotFrame == null)
{
MessageBox.Show("Frame was not selected! Use frame selection dialog to specify hotframe!", "Frame not selected", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
List <VelodynePoint> points = viewer.GetSelectedPoints();
if (points.Count() == 0)
{
MessageBox.Show("No point is selected! Feature won't be created!", "No point", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
VeloFeature feature = new VeloFeature(this.DataStream as VelodyneDataStream);
feature.Points.AddRange(points);
PropertiesWnd wnd = new PropertiesWnd(feature, false);
DialogResult dlg = wnd.ShowDialog();
if (dlg == DialogResult.OK)
{
CurrentHotFrame.Features.Add(feature);
}
SetHotFrame(CurrentHotFrame);
}
private void frameBox_MouseClick(object sender, MouseEventArgs e)
{
if (this.windowState == StreamWindowState.DigitizePoints)
{
if (e.Button == MouseButtons.Left) // add point
{
if (CurrentHotFrame == null)
{
return;
}
ImageFeature imageFeature = (ImageFeature)CurrentHotFrame.GetImageFeatureByDataStream(dataStream);
Point pt = frameBox.PointToImage(e.X, e.Y);
ImagePoint imagePoint = new ImagePoint(++lastId, pt.X, pt.Y);
PropertiesWnd wnd = new PropertiesWnd(imagePoint);
if (wnd.ShowDialog() == DialogResult.OK)
{
ImagePoint pti = wnd.Object as ImagePoint;
lastId = pti.ID;
imageFeature.Points.Add(pti);
}
frameBox.Refresh();
}
if (e.Button == MouseButtons.Right) // remove point
{
ImageFeature imageFeature = (ImageFeature)CurrentHotFrame.GetImageFeatureByDataStream(dataStream);
Point pt = frameBox.PointToImage(e.X, e.Y);
/*double minVal = imageFeature.Points.Min(x => Math.Pow(x.X - pt.X, 2) + Math.Pow(x.Y - pt.Y, 2));
* int minIndex = Array.IndexOf(imageFeature.Points, minVal);*/
ImagePoint minPt = null;
double minR = Double.MaxValue;
foreach (ImagePoint pti in imageFeature.Points)
{
double r = Math.Pow(pti.X - pt.X, 2) + Math.Pow(pti.Y - pt.Y, 2);
if (r < minR)
{
minPt = pti;
minR = r;
}
}
if (minPt != null)
{
PropertiesWnd wnd = new PropertiesWnd(minPt);
if ((wnd.ShowDialog() == DialogResult.OK) && (wnd.IsDeleteObject))
{
imageFeature.Points.Remove(minPt);
}
}
frameBox.Refresh();
}
}
}
private void showDataLinePropertyToolStripMenuItem_Click_1(object sender, EventArgs e)
{
if (currentDataLine != null)
{
PropertiesWnd wnd = new PropertiesWnd(currentDataLine, false);
if (wnd.ShowDialog() == DialogResult.OK)
{
Refresh();
}
}
}
private void showHotFramePropertyToolStripMenuItem_Click(object sender, EventArgs e)
{
if (CurrentHotFrame != null)
{
PropertiesWnd wnd = new PropertiesWnd(CurrentHotFrame, false);
if (wnd.ShowDialog() == DialogResult.OK)
{
Refresh();
}
}
}
private void showDataStreamPropertyToolStripMenuItem_Click(object sender, EventArgs e)
{
if (dataStream != null)
{
PropertiesWnd wnd = new PropertiesWnd(dataStream, false);
if (wnd.ShowDialog() == DialogResult.OK)
{
Refresh();
}
}
}
private void fromCurrentTimeToolStripMenuItem_Click(object sender, EventArgs e)
{
if (currentDataLine != null)
{
SyncToManuallyParams param = new SyncToManuallyParams();
PropertiesWnd wnd = new PropertiesWnd(param, false);
wnd.Text = "Parameters for manual sync";
if (wnd.ShowDialog() == DialogResult.OK)
{
double delay = param.Delay;
dataStream.ApplyDelay(delay, TimeType.ESTIMATED);
}
}
}
private void toolStripButton4_Click(object sender, EventArgs e)
{
if (lstFrames.SelectedItems.Count > 0)
{
HotFrame hotFrame = lstFrames.SelectedItems[0].Tag as HotFrame;
if (hotFrame != null)
{
PropertiesWnd wnd = new PropertiesWnd(hotFrame, false);
if (wnd.ShowDialog() == DialogResult.OK)
{
Refresh();
}
}
}
}
private void Viewer_AnnotationClicked(object sender, EventArgs e)
{
if (sender is VelodyneAnnotation)
{
VelodyneAnnotation annot = sender as VelodyneAnnotation;
if (annot.Object is VeloFeature)
{
VeloFeature feature = annot.Object as VeloFeature;
PropertiesWnd wnd = new PropertiesWnd(feature);
DialogResult dlg = wnd.ShowDialog();
if ((dlg == DialogResult.OK) && (!wnd.IsDeleteObject))
{
SetHotFrame(CurrentHotFrame);
}
else if ((dlg == DialogResult.OK) && (wnd.IsDeleteObject))
{
CurrentHotFrame.Features.Remove(feature);
SetHotFrame(CurrentHotFrame);
}
}
}
}
