private void StartProcessing()
{
if (GOCATOR)
{
data = surfaceReceiver.GetSurfaceData();
surfaceReceiver.Stop();
}
sw.Start();
//holds the pixel data
byte[] rgbData;
if (GOCATOR)
{
//converts gocator data to rgb data
rgbData = GocatorToRgb32(data.ranges);
//copy the data to the image, create the bitmaps
Copy32BitDataToImage((int)data.SurfaceInfo.Width, (int)data.SurfaceInfo.Height, rgbData);
//does all of the image processing
ProcessImage((int)data.SurfaceInfo.Width, (int)data.SurfaceInfo.Height, data.CalculateResolution());
}
else
{
int xSize = scan.Resolution.Width * scan.Size.Width;
int ySize = scan.Resolution.Height* scan.Size.Height;
float res = xSize / (float)ySize;
rgbData = Get32BitRgbDataFromFile(String.Format("data/{0}",scan.dataFile));
//copy the data to the image, create the bitmaps
Copy32BitDataToImage(scan.Size.Width, scan.Size.Height, rgbData);
// Copy16BitDataToImage(width, height, textData, out bitmap, out bitmapData, out unmanImg);
ProcessImage(scan.Size.Width, scan.Size.Height, res);
}
sw.Stop();
dataTextBox.AppendText("Processing Time: " + sw.ElapsedMilliseconds + " ms\n");
sw.Reset();
//resultBox.Image = result;
resultBox.Size = new Size(originalMat.Width, originalMat.Height);
// originalBox.Image = result;
originalBox.Size = new Size(originalMat.Width, originalMat.Height);
}
/// <summary>
/// Starts the scanner and returns the surface
/// </summary>
/// <returns>
/// 0 = success, errors codes can be found in gocator manual
/// -1 general error
/// </returns>
public SurfaceData GetSurfaceData()
{
Stopwatch sw1 = new Stopwatch();
sw1.Start();
SurfaceData surfaceData = new SurfaceData();
if ((status = (kStatus)GoSystem_Start(system)) != kStatus.kOK)
throw new Exception("GoSystem_Start Error: " +(int)status);
while ((status = (kStatus)GoSystem_ReceiveData(system, ref dataset, 2000000)) != kStatus.kOK) ;
if (GoDataSet_Count(dataset) == 0)
throw new Exception("GoSystem_ReceiveData Error: Data received, but it was empty. Check ethernet output settings.");
// each result can have multiple data items
// loop through all items in result message
for (UInt32 i = 0; i < GoDataSet_Count(dataset); i++)
{
dataObj = GoDataSet_At(dataset, i);
// retrieve GoStamp message
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_STAMP)
{
stampMsg = dataObj;
for (UInt32 j = 0; j < GoStampMsg_Count(stampMsg); j++)
{
stampPtr = GoStampMsg_At(stampMsg, j);
stamp = (GoStamp)Marshal.PtrToStructure(stampPtr, typeof(GoStamp));
surfaceData.Stamp = stamp;
}
}
// retrieve surface data
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE)
{
surfaceMsg = dataObj;
surfaceData.SurfaceInfo.Width = GoSurfaceMsg_Width(surfaceMsg);
surfaceData.SurfaceInfo.Height = GoSurfaceMsg_Length(surfaceMsg);
surfaceData.SurfaceInfo.XResolution = GoSurfaceMsg_XResolution(surfaceMsg);
surfaceData.SurfaceInfo.YResolution = GoSurfaceMsg_YResolution(surfaceMsg);
surfaceData.SurfaceInfo.XOffset = GoSurfaceMsg_XOffset(surfaceMsg);
surfaceData.SurfaceInfo.YOffset = GoSurfaceMsg_YOffset(surfaceMsg);
surfaceData.SurfaceInfo.ZOffset = GoSurfaceMsg_ZOffset(surfaceMsg);
surfaceData.SurfaceInfo.ZResolution = GoSurfaceMsg_ZResolution(surfaceMsg);
UInt32 bufferSize = surfaceData.SurfaceInfo.Width * surfaceData.SurfaceInfo.Height;
IntPtr bufferPointer = GoSurfaceMsg_RowAt(surfaceMsg, 0);
surfaceData.ranges = new short[bufferSize];
Marshal.Copy(bufferPointer, surfaceData.ranges, 0, surfaceData.ranges.Length);
Stopwatch sw = new Stopwatch();
sw.Start();
for (int j = 0; j < bufferSize; j++)
{
// surfaceData.ranges[j] = (short)(surfaceData.SurfaceInfo.ZOffset + surfaceData.ranges[j] * surfaceData.SurfaceInfo.ZResolution);
surfaceData.ranges[j] = (short)(Math.Pow(2, 15) - Math.Abs((int)surfaceData.ranges[j]));
}
sw.Stop();
Console.WriteLine("Time to transform data: {0}", sw.Elapsed);
sw.Stop();
Console.WriteLine("Time to transform data: {0}", sw.ElapsedMilliseconds);
}
// retrieve surface data
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE_INTENSITY)
{
surfaceMsg = dataObj;
surfaceData.SurfaceIntensityInfo.Width = GoSurfaceIntensityMsg_Width(surfaceMsg);
surfaceData.SurfaceIntensityInfo.Height = GoSurfaceIntensityMsg_Length(surfaceMsg);
surfaceData.SurfaceIntensityInfo.XResolution = GoSurfaceIntensityMsg_XResolution(surfaceMsg);
surfaceData.SurfaceIntensityInfo.YResolution = GoSurfaceIntensityMsg_YResolution(surfaceMsg);
surfaceData.SurfaceIntensityInfo.XOffset = GoSurfaceIntensityMsg_XOffset(surfaceMsg);
surfaceData.SurfaceIntensityInfo.YOffset = GoSurfaceIntensityMsg_YOffset(surfaceMsg);
UInt32 bufferSize = surfaceData.SurfaceIntensityInfo.Width * surfaceData.SurfaceIntensityInfo.Height;
IntPtr bufferPointer = GoSurfaceIntensityMsg_RowAt(surfaceMsg, 0);
//short[] ranges = new short[bufferSize];
surfaceData.intensities = new byte[bufferSize];
Marshal.Copy(bufferPointer, surfaceData.intensities, 0, surfaceData.intensities.Length);
}
}
sw1.Stop();
Console.WriteLine("Time to get all data: {0}", sw1.Elapsed);
return surfaceData;
}
