public string Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
StringBuilder sb = new StringBuilder();
sb.AppendLine("# .PCD v.7 - Point Cloud Data file format");
sb.AppendLine("VERSION .7");
if (!options.RecordRGB)
{
sb.AppendLine("FIELDS x y z");
sb.AppendLine("SIZE 4 4 4");
sb.AppendLine("TYPE F F F");
sb.AppendLine("COUNT 1 1 1");
}
else
{
sb.AppendLine("FIELDS x y z rgb");
sb.AppendLine("SIZE 4 4 4 4");
sb.AppendLine("TYPE F F F F");
sb.AppendLine("COUNT 1 1 1 1");
}
sb.AppendLine("WIDTH 1");
sb.AppendLine("HEIGHT " + temp.PointCount);
sb.AppendLine("VIEWPOINT 0 0 0 1 0 0 0");
sb.AppendLine("POINTS " + temp.PointCount);
sb.Append("DATA ascii");
return sb.ToString();
}
public string Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
StringBuilder sb = new StringBuilder();
sb.AppendLine("ply");
sb.AppendLine("format ascii 1.0");
sb.AppendLine(String.Concat("element vertex ", temp.PointCount));
sb.AppendLine("property float x");
sb.AppendLine("property float y");
sb.AppendLine("property float z");
sb.AppendLine("property uchar red");
sb.AppendLine("property uchar green");
sb.AppendLine("property uchar blue");
sb.AppendLine("end_header");
return sb.ToString();
}
string FileType.Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
return "";
}
/// <summary>
/// Background thread method, process the temporary point cloud stack
/// </summary>
protected void ProcessStack(object sender, DoWorkEventArgs e)
{
while (this.RecorderState == PointCloudRecorderState.Recording || this.RecorderState == PointCloudRecorderState.Stopping)
{
if (this.TempClouds.Count > 0 && this.TempClouds.Peek() != null)
{
PointCloudTemp tempCloud = this.TempClouds.Pop();
PointCloudRecorderOptions options = new PointCloudRecorderOptions()
{
RecordRGB = this.RecordRGB
};
string tempfile = Path.GetTempFileName();
using (var writer = new StreamWriter(tempfile))
{
foreach (PointCloudTemp temp in tempCloud.ProcessCloud())
writer.Write(this.ZipWriter.FileType.FormatLine(temp.Id, temp.XYZ, this.RecordRGB ? temp.RGB : null));
}
ZipArchiveEntry entry = this.ZipWriter.Archive.CreateEntry("frame-" + tempCloud.Id + "." + this.ZipWriter.FileType.Extension());
using (StreamWriter entryWriter = new StreamWriter(entry.Open()))
{
string fileHeader = this.ZipWriter.FileType.Header(tempCloud, options);
entryWriter.Write(fileHeader);
using (var reader = new StreamReader(tempfile))
{
while (!reader.EndOfStream)
entryWriter.WriteLine(reader.ReadLine());
}
}
this.FrameIds[tempCloud.Id] = tempCloud.PointCount;
this.CloudProcessingThread.ReportProgress(0, new Tuple<int, int>(this.TempClouds.Count, this.FrameIds.Count));
}
else if (this.RecorderState == PointCloudRecorderState.Stopping)
{
ChangeState(PointCloudRecorderState.ProcessingClouds);
//this.PostProcessingThread = new Thread(new ThreadStart(PostProcess));
//this.PostProcessingThread.Start();
this.PostProcessingThread = new BackgroundWorker();
this.PostProcessingThread.WorkerReportsProgress = true;
this.PostProcessingThread.DoWork += PostProcessingThread_DoWork;
this.PostProcessingThread.ProgressChanged += PostProcessingThread_ProgressChanged;
this.PostProcessingThread.RunWorkerAsync();
}
}
}
