/// <summary>
/// using previously accumulated LidarData, draws the boundaries of the scanned area.
/// </summary>
private void drawScannedArea()
{
if (numRays >= 2)
{
StringBuilder psb = new StringBuilder();
// the "Path" coordinates of the center of ray rotation:
int centerX = (int)Math.Round(ScannedArea.ActualWidth / 2.0d);
int centerY = (int)ScannedArea.ActualHeight;
psb.AppendFormat("M{0},{1} ", centerX, centerY);
foreach (int angleRaw in _lidarData.angles.Keys)
{
RangeReading reading = _lidarData.getLatestReadingAt(angleRaw);
if (reading != null)
{
// 0 = full range, centerY = zero range
double lineLength = reading.rangeMeters * ScannedArea.ActualHeight / rangeMaxValueM;
double angleDegrees = reading.angleDegrees - (angleMaxValue - angleMinValue) / 2.0d;
double angleRads = angleDegrees * Math.PI / 180.0d;
int x1 = (int)Math.Round(lineLength * Math.Sin(angleRads)) + centerX;
int y1 = -(int)Math.Round(lineLength * Math.Cos(angleRads)) + centerY;
// Tracer.Trace("angle: " + angleDegrees + "/" + angleRads + " x=" + x1 + " y=" + y1);
psb.AppendFormat("L{0},{1} ", x1, y1);
}
}
psb.Append("z");
// Tracer.Trace(psb.ToString());
PathFigureCollectionConverter fcvt = new PathFigureCollectionConverter();
PathFigureCollection figures = (PathFigureCollection)fcvt.ConvertFromString(psb.ToString()); //"M200,200 L100,10 L100,10 L50,100 z");
ScannedArea.Data = new PathGeometry(figures);
drawReferenceCircles();
}
}
