/// <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;
// Moving Camera vertically up and turning it to look down
PointCloudView.ViewModel.SetCvmPosition(new System.Windows.Media.Media3D.Vector3D(0, 0, groundZ),
new System.Windows.Media.Media3D.Vector3D(180, 0, 90));
var planeColor = System.Windows.Media.Color.FromArgb(20, 50, 255, 50).ToColor4();
// Only points from this rectangular area are included and outliers are ignored
var scenePlane = PointcloudViewModel.CreatePlane(planeColor, groundD, groundW, new SharpDX.Vector3(0, 0, 1f));
PointCloudView.SceneRoot.Children.Add(scenePlane);
// For 3D texts
BillboardTextModel3D text = new BillboardTextModel3D();
PointCloudView.SceneRoot.Children.Add(text);
labels = new BillboardText3D();
text.Geometry = labels;
boundingBoxGroup = new GroupModel3D();
PointCloudView.SceneRoot.Children.Add(boundingBoxGroup);
rosControlBase.RosConnected += RosControlBase_RosConnected;
rosControlBase.RosDisconnected += RosControlBase_RosDisconnected;
rosControlBase.CvmDeviceInfoChaged += RosControlBase_CvmDeviceInfoChaged;
}
/// <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;
}
