/// <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; }