/// <summary>
/// Event handler is called when CVM device info has changed
/// </summary>
/// <param name="sender">Sender</param>
/// <param name="e">Arguments</param>
private void RosControlBase_CvmDeviceInfoChaged(object sender, EventArgs e)
{
double f = rosControlBase.Device.DeviceInfo.FocalPoint;
double B = rosControlBase.Device.DeviceInfo.Baseline;
if (pointcloudViewModel.ImagingPipeline != null)
{
pointcloudViewModel.ImagingPipeline.SetCameraInfo(B, f, rosControlBase.Device.DeviceInfo.PrincipalPoint);
}
PointcloudView.AddFov(rosControlBase.Device.DeviceInfo.FovV, rosControlBase.Device.DeviceInfo.FovH, 1f, 10f, rosControlBase.Device.DeviceInfo.Baseline);
}
/// <summary>
/// Initialization
/// </summary>
public void InitializeBusinessLogic()
{
ConfigurationHelper.RegisterSettings(Properties.Settings.Default);
pointcloudViewModel = new PointcloudViewModel(new SharpDX.Size2(0, 0));
PointcloudView.ViewModel = pointcloudViewModel;
PointcloudView.InitializeScene();
DataContext = pointcloudViewModel;
rosControlBase.RosConnected += RosControlBase_RosConnected;
rosControlBase.RosDisconnected += RosControlBase_RosDisconnected;
rosControlBase.CvmDeviceInfoChaged += RosControlBase_CvmDeviceInfoChaged;
}
/// <summary>
/// Event handler is called when successfully connected to ROS master server
/// </summary>
/// <param name="sender">Sender</param>
/// <param name="e">Arguments</param>
private void RosControlBase_RosConnected(object sender, EventArgs e)
{
try
{
// NOTE: GPU filters can be initialized only when View3D of HelixToolkit has been launched.
PointcloudView.InitializePipeline(Properties.Settings.Default.ForceCpuFiltering, 1);
if (rosControlBase.Device.DeviceInfo != null)
{
pointcloudViewModel.ImagingPipeline.SetCameraInfo(rosControlBase.Device.DeviceInfo.Baseline,
rosControlBase.Device.DeviceInfo.FocalPoint, rosControlBase.Device.DeviceInfo.PrincipalPoint);
}
}
catch (Exception ex)
{
MessageBox.Show($"Fatal error initializing pipeline: {ex.GetBaseException().Message}");
throw;
}
// RGBPreview.Subscribe();
// DisparityPreview.Subscribe();
}
