public bool HasIndexedFiles()
{
foreach (VelodyneDataLine dataLine in this.DataLines)
{
String pcapFile = this.project.Folder + "\\" + this.SubFolder + "\\" + dataLine.PcapLocation;
if ((!(File.Exists(VelodyneConverter.GetDefaultIndexFile(pcapFile)))) || (!(File.Exists(VelodyneConverter.GetDefaultIndexFile(pcapFile)))))
{
return(false);
}
}
return(true);
}
/// <summary>
/// Convert Velodyne data stream into internal format
/// </summary>
/// <param name="velodyneDataStream"></param>
private void ConvertVelodyneDataStream(VelodyneDataStream velodyneDataStream)
{
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Conversion: " + velodyneDataStream.ShortName;
// create multiple logger
List <ILogger> loggers = new List <ILogger>();
loggers.Add(Logger);
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
foreach (VelodyneDataLine dataLine in velodyneDataStream.DataLines)
{
VelodyneConverter converter = VelodyneConverter.Create(form.Project.Folder + "\\" + velodyneDataStream.SubFolder + "\\" + dataLine.PcapLocation);
converter.ProgressReport += delegate(object senderReport, ProgressReportEventArgs argsReport)
{
logger.WriteLineInfo(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
logger.WriteProgress(argsReport.Precentage);
};
try
{
converter.Convert(wnd.CancelTokenSource.Token);
}
catch (OperationCanceledException)
{
// TODO: clean up files!
}
catch (Exception ex)
{
logger.WriteLineInfo("Error occured: " + ex.Message);
}
}
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
logger.WriteLineInfo("Conversion done.");
logger.WriteProgress(100);
};
wnd.ShowDialog();
}
private void VelodyneStreamWnd_Load(object sender, EventArgs e)
{
MainForm form = (MainForm)this.MdiParent;
VelodyneDataLine dataLine = ((VelodyneDataLine)DataStream.DataLines[0]);
String pcapFile = form.Project.Folder + "\\" + DataStream.SubFolder + "\\" + dataLine.PcapLocation;
String indexFile = VelodyneConverter.GetDefaultIndexFile(pcapFile);
String pointFile = VelodyneConverter.GetDefaultPointFile(pcapFile);
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Load data stream: " + ((VelodyneDataStream)DataStream).ShortName;
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
VelodyneReader.ClearProgressReport();
VelodyneReader.ProgressReport += delegate(object senderReader, ProgressReportEventArgs argsReport)
{
form.ReportProgress(argsReport.Precentage);
logger.WriteInfo(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
wnd.WriteLine(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
((BackgroundWorker)senderWorker).ReportProgress(Convert.ToInt32(argsReport.Precentage));
};
veloReader = VelodyneReader.Open(((VelodyneDataStream)DataStream).SensorType, ReturnMode.StrongestReturnOnly, indexFile, pointFile);
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
wnd.Close();
form.ReportProgress(100);
// set scroll bar
idxStart = veloReader.Indeces.First();
IndexData idxLast = veloReader.Indeces.Last();
trackBar.Minimum = 0;
trackBar.Maximum = Convert.ToInt32((idxLast.InternalTimeStamp.Ticks - idxStart.InternalTimeStamp.Ticks) / TimeSpan.TicksPerSecond);
this.Text = "Streams: ";
foreach (VelodyneDataStream ds in this.VeodyneDataStreams)
{
this.Text += ds.ShortName + " ";
}
// set reader to the first index
veloReader.Seek(idxStart);
viewer.Render();
};
wnd.ShowDialog();
}
static void Main(string[] args)
{
//String pcapFile = @"F:\CAR\2017_08_28_2\Velodynes\VHDL\2017-08-28-16-01-45_Velodyne-HDL-32-Data.pcap";
//String pcapFile = @"E:\CAR\2017_10_13\Velodynes\VWHITE\2017-10-13-12-11-18_Velodyne-VLP-16-Data.pcap";
//String pcapFile = @"E:\CAR\2017_10_13\Velodynes\VRED\2017-10-13-12-03-19_Velodyne-VLP-16-Data.pcap";
String pcapFile = @"E:\CAR\2017_10_13\Velodynes\VGREEN\2017-10-13-12-04-11_Velodyne-VLP-16-Data.pcap";
String indexFile = VelodyneConverter.GetDefaultIndexFile(pcapFile);
String pointFile = VelodyneConverter.GetDefaultPointFile(pcapFile);
/*String indexFile = @"E:\CAR\2017_08_28_2\Velodynes\VRED\2017-08-28-15-59-48_Velodyne-VLP-16-Data.pcap.idx";
* String pointFile = @"E:\CAR\2017_08_28_2\Velodynes\VRED\2017-08-28-15-59-48_Velodyne-VLP-16-Data.pcap.bin";
* VelodyneReader veloReader = new VelodyneReader(VelodyneReader.SensorType.VLP16, indexFile, pointFile);*/
/*VelodyneConverter converter = VelodyneConverter.Create(pcapFile);
* converter.ProgressReport += Converter_ProgressReport;
* converter.Convert();
* Console.WriteLine("Conversion is done!");
* return;*/
Console.WriteLine("Done.");
List <VelodynePoint> pts = new List <VelodynePoint>();
using (VelodyneReader veloReader = VelodyneReader.Open(VelodyneSensorType.VLP16, ReturnMode.LastReturnOnly, indexFile, pointFile))
{
//veloReader.AnalysOffset();
IndexData idx = veloReader.FindIndexByTime(new DateTime(2017, 10, 13, 16, 45, 04, 0), VelodyneReader.SearchType.FLOOR);
veloReader.SeekByTime(new DateTime(2017, 10, 13, 16, 52, 04, 0));
Console.WriteLine(idx.PacketTimeStamp.ToString("yyyy-MM-dd HH:mm:ss") + " NMEA: " + idx.InternalTimeStamp.ToString("yyyy-MM-dd HH:mm:ss") + " Pos: " + idx.Position + " NMEA: " + idx.Nmea.NmeaString);
for (int k = 0; k < 1000; k++)
{
VelodynePacket packet = veloReader.ReadNext();
if (packet is VelodynePointPacket)
{
VelodynePointPacket pointPacket = packet as VelodynePointPacket;
}
}
Console.WriteLine("done.");
Console.ReadKey();
Simple3dViewerWnd viewer = new Simple3dViewerWnd(veloReader);
viewer.ShowDialog();
}
Console.ReadKey();
}
