public ObjectsParser(IContainer <SlamInfinitePlane> infinitePlanes,
IConnectableObjectsContainer <SlamPoint> points,
IConnectableObjectsContainer <SlamObservation> observations,
string imagePath)
{
_infinitePlanes = infinitePlanes;
_points = points;
_observations = observations;
_imagePath = imagePath;
}
private ICommand GetCommandForConnectableObjects <TCloudItem, TCloudItemDiff>(
IConnectableObjectsContainer <TCloudItem> map,
IList <TCloudItemDiff> objects, PacketPb packet)
where TCloudItem : struct, ICloudItem
where TCloudItemDiff : struct, ICloudItemDiff <TCloudItem>
{
if (objects is null || objects.Count == 0)
{
return(null);
}
switch (packet.Action)
{
case PacketPb.Types.ActionType.Add:
return(new AddCommand <TCloudItem, TCloudItemDiff>(map, objects));
case PacketPb.Types.ActionType.Update:
var commands = new List <ICommand>();
if (packet.Connections != null)
{
var connections = packet.Connections.Data.Select(c => (c.Id1, c.Id2)).ToArray();
switch (packet.Connections.Action)
{
case PacketPb.Types.Connections.Types.Action.Add:
commands.Add(new AddConnectionsCommand <TCloudItem>(map, connections));
break;
case PacketPb.Types.Connections.Types.Action.Remove:
commands.Add(new RemoveConnectionsCommand <TCloudItem>(map, connections));
break;
}
}
commands.Add(new UpdateCommand <TCloudItem, TCloudItemDiff>(map, objects));
return(new MacroCommand(commands));
case PacketPb.Types.ActionType.Remove:
return(new ConnectableRemoveCommand <TCloudItem, TCloudItemDiff>(map, objects));
case PacketPb.Types.ActionType.Clear:
return(new ConnectableClearCommand <TCloudItem>(map));
default:
return(null);
}
}
public ProtobufContainerTree(string displayName, ISourceTree image, SlamDataInfoPresenter specialInfo = null)
{
DisplayName = displayName;
Image = image;
SpecialInfo = specialInfo;
TrackedObjs = new TrackedObjectsContainer("Tracked objects");
Observations = new ConnectableObjectsContainer <SlamObservation>(
new CloudContainer <SlamObservation>("Points"),
new SlamLinesContainer("Connections"),
"Observations");
Points = new ConnectableObjectsContainer <SlamPoint>(
new CloudContainer <SlamPoint>("Points"),
new SlamLinesContainer("Connections"),
"Points");
Connector = new Connector(Points, Observations, "Connections");
Lines = new SlamLinesContainer("Lines");
MeshContainer = new MeshReconstructor(Points, "Mesh");
InfinitePlanes = new CloudContainer <SlamInfinitePlane>("Infinite planes");
var observationsGraph = new VirtualContainer("Observations graph", new List <ISourceTree>
{
(ISourceTree)Observations,
Connector
});
var ch = new List <ISourceTree>
{
(ISourceTree)Points,
(ISourceTree)TrackedObjs,
(ISourceTree)InfinitePlanes,
observationsGraph,
(ISourceTree)Lines,
MeshContainer,
Image,
};
if (SpecialInfo != null)
{
ch.Add(SpecialInfo);
}
Children = ch.ToArray();
}
public PointsMapManager(IConnectableObjectsContainer <SlamPoint> container, ICSConverter converter)
: base(container)
{
_converter = converter;
}
protected ConnectableObjectsMapManager(IConnectableObjectsContainer <TCloudItem> container) : base(container)
{
_connectableContainer = container;
}
public ObservationsMapManager(IConnectableObjectsContainer <SlamObservation> container, ICSConverter converter) :
base(container)
{
_converter = converter;
}
