/// <summary>
/// basic constructor
/// </summary>
public LidarOpenGlForm(int _bodyModelIndex)
{
InitializeComponent();
// initialization graph
this._graph = new FieldMap.Graph();
this._graph.CreateGraph(zgc1);
// initialization OpenGl variable
this.bodyModelIndex = _bodyModelIndex;
this._map = new Body3DMap(_bodyModelIndex, false);
this.loaded = false;
this.transX = 0;
this.transY = 0;
this.transZ = 0;
this.angle = 0.0;
//this.crop = new List<SickLidar.CartesianPoint>();
cropPoints = new Vector3[361 * 50000];
groundPoints = new Vector3[361 * 50000];
edgePoints = new Vector3[2 * 50000];
idealPathPoints = new Vector3[2 * 50000];
this.cropCnt = 0;
this.cropOffset = 0;
this.groundOffset = 0;
//this.edgeOffset = 0;
this.isManualControl = false;
}
/// <summary>
/// Connect Combine Body using RS-232C
/// </summary>
private void CombineBodyConnect()
{
if (this.BodyReadCheckBox.Checked == false)
{
this._bodySerialConnect = new CombineBody.SerialConnect(
this.BodyPortTxtBox.Text,
Convert.ToInt32(this.BodyBaudRateTxtBox.Text),
Convert.ToInt32(this.BodyDatabitsTxtBox.Text)
);
if (this.BodySaveCheckBox.Checked == true)
{
this._bodyFile = new CombineBody.File(
this.BodySaveCheckBox.Checked,
this.BodyReadCheckBox.Checked
);
}
}
else
{
this._bodyFile = new CombineBody.File(
this.BodySaveCheckBox.Checked,
this.BodyReadCheckBox.Checked
);
}
if (this.BodyModelComboBox.SelectedIndex == 0)
{
this._vy50 = new CombineBody.Vy50();
}
if (this.BodyModelComboBox.SelectedIndex == 1)
{
this._vy446 = new CombineBody.Vy446();
}
if (this.BodyWgs84ToCartesianCheckBox.Checked == true)
{
this.offLineInit = false;
this.offLineMapX = 0.0;
this.offLineMapY = 0.0;
this._cgps = new Cgps(5, 1);
this._offLineGraph = new FieldMap.Graph();
this._offLineGraph.CreateGraph(zg2);
}
}