private void DrawBPPointCloudToRealTimePointCloud() { List <LMData> tempListModeData = new List <LMData>(); if (RealtimeVector3s == null || RealtimeVector3s.Count() == 0) { return; } if (LACC_Control_Static.ListedLMData.Count == 0) { return; } try { tempListModeData = (from LM in LACC_Control_Static.ListedLMData where LM != null && LM.MeasurementTime > DateTime.Now - TimeSpan.FromSeconds(MLPETime) select LM).ToList(); } catch (NullReferenceException e) { Debug.WriteLine(e.ToString()); return; } if (tempListModeData.Count == 0) { return; } //Trace.WriteLine("LM Data count " + tempListModeData.Count()); var(v3, c4) = ImageRecon.BPtoPointCloud(RealtimeVector3s, tempListModeData, false, 1, 0.8); // RealtimeReconPointCloud = new PointGeometry3D() { Positions = v3, Colors = c4 }; }