public void TestLoggedPositionData()
{
Stream fileStream = new FileStream(@"C:\Temp\temp.location", FileMode.Open);
PositionReader reader = new PositionReader(fileStream);
using (Stream outputStream = new FileStream(@"C:\Temp\export.xyz", FileMode.Create))
using(StreamWriter writer = new StreamWriter(outputStream))
{
for (int i = 0; i < reader.Count; i++)
{
Tuple<PositionData,long> data = reader.ReadPositionAt(i);
writer.WriteLine(String.Format("{0},{1},{2}", data.Item1.X, data.Item1.Y, data.Item1.Z));
}
}
}
public SpatialReference(KinectReader kinectReader, PositionReader positionReader)
{
this.kinectReader = kinectReader;
this.positionReader = positionReader;
string wkt = "GEOGCS[\"GCS_WGS_1984\",DATUM[\"D_WGS_1984\",SPHEROID[\"WGS_1984\",6378137,298.257223563]],PRIMEM[\"Greenwich\",0],UNIT[\"Degree\",0.0174532925199433]]";
this.wgs84 = (ICoordinateSystem)ProjNet.Converters.WellKnownText.CoordinateSystemWktReader.Parse(wkt);
//hardcoded UTM 55S - should parameterize
string toWKT = "PROJCS[\"WGS 72BE / UTM zone 55S\",GEOGCS[\"WGS 72BE\",DATUM[\"WGS_1972_Transit_Broadcast_Ephemeris\",SPHEROID[\"WGS 72\",6378135,298.26,AUTHORITY[\"EPSG\",\"7043\"]],TOWGS84[0,0,1.9,0,0,0.814,-0.38],AUTHORITY[\"EPSG\",\"6324\"]],PRIMEM[\"Greenwich\",0,AUTHORITY[\"EPSG\",\"8901\"]],UNIT[\"degree\",0.01745329251994328,AUTHORITY[\"EPSG\",\"9122\"]],AUTHORITY[\"EPSG\",\"4324\"]],PROJECTION[\"Transverse_Mercator\"],PARAMETER[\"latitude_of_origin\",0],PARAMETER[\"central_meridian\",147],PARAMETER[\"scale_factor\",0.9996],PARAMETER[\"false_easting\",500000],PARAMETER[\"false_northing\",10000000],UNIT[\"metre\",1,AUTHORITY[\"EPSG\",\"9001\"]],AUTHORITY[\"EPSG\",\"32555\"]]";
this.toCs = (ICoordinateSystem)ProjNet.Converters.WellKnownText.CoordinateSystemWktReader.Parse(toWKT);
CoordinateTransformationFactory ctfac = new CoordinateTransformationFactory();
this.toGridtrans = ctfac.CreateFromCoordinateSystems(wgs84, toCs);
}
public void TestRealWorld()
{
Stream fileStream = new FileStream(@"C:\Temp\2011_1_22_20_39.kinect", FileMode.Open);
KinectReader kinectReader = new KinectReader(fileStream, 640, 480);
Stream positionFileStream = new FileStream(@"C:\Temp\2011_1_22_20_39.location", FileMode.Open);
PositionReader positionReader = new PositionReader(positionFileStream);
SpatialReference reference = new SpatialReference(kinectReader, positionReader);
KinectExporter exporter = new KinectExporter(null);
using (Stream outputStream = new FileStream(@"C:\Temp\export.ply", FileMode.Create))
{
var points = reference.GetRealWorldPointCloudAt(33);
for (int i = 34; i <50; i++)
{
points.AddRange(reference.GetRealWorldPointCloudAt(i));
}
exporter.ExportPointsToPLY(points, outputStream);
}
}
