public static void onData(KObject data)
{
GoDataSet dataSet = (GoDataSet)data;
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
}
}
// Refer to example ReceiveRange, ReceiveProfile, ReceiveMeasurement and ReceiveWholePart on how to receive data
Console.WriteLine(Environment.NewLine);
}
public void AsyncReceiveData(KObject data)
{
GoDataSet dataset = (GoDataSet)data;
for (UInt32 i = 0; i < dataset.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataset.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
getStamp.FrameIndex = stamp.FrameIndex;
getStamp.Timestamp = stamp.Timestamp;
getStamp.Encoder = stamp.Encoder;
get_stamp_FrameIndex.Add(stamp.FrameIndex);
get_stamp_TimeStamp.Add(stamp.Timestamp);
get_stamp_EncoderValue.Add(stamp.Encoder);
}
dataReceivedFlag.Stamp = 1;
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; k++)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
getMeasurement.Id = measurementMsg.Id;
getMeasurement.value = measurementData.Value;
getMeasurement.decison = measurementData.Decision;
get_measurementMsg_Id.Add(measurementMsg.Id);
get_measurementMsg_Value.Add(measurementData.Value);
get_measurementMsg_Decison.Add(measurementData.Decision);
}
dataReceivedFlag.Measurement = 1;
}
break;
case GoDataMessageType.Alignment:
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.Status == KStatus.Ok)
{
calibrationSuccessfulBl = true;
}
else
{
calibrationSuccessfulBl = false;
}
}
break;
}
}
}
public void onData(KObject data)
{
GoDataSet dataSet = (GoDataSet)data;
//var dataWithID = new Dictionary<string, string>();
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
//Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
//Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
//Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; ++k)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
//Console.WriteLine("ID: {0}", measurementMsg.Id);
//Console.WriteLine("Value: {0}", measurementData.Value);
//Console.WriteLine("Decision: {0}", measurementData.Decision);
//dataWithID.Add(measurementMsg.Id.ToString(), measurementData.Value.ToString());
}
}
break;
}
}
Publish(new LMIData()); //TODO Data Shell
}
private void OnDataReceived(KObject data)
{
//system.Stop();
_dataSource = (GoDataSet)data;
for (UInt32 i = 0; i < _dataSource.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)_dataSource.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
}
}
break;
case GoDataMessageType.Surface:
{
GoSurfaceMsg surface = (GoSurfaceMsg)dataObj;
long size = surface.Size;
}
break;
case GoDataMessageType.Profile:
{
}
break;
}
}
// Dispose required to prevent memory leak.
_dataSource.Dispose();
}
public void onData(KObject data)
{
bDataSaved = false;
double yPoint = 1;
string strWrite = "";
bool length_incr = true;
GoDataSet dataSet = (GoDataSet)data;
DataContext context = new DataContext();
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
//Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
//Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
//Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.Surface: // Surface
{
GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
long width = surfaceMsg.Width;
long height = surfaceMsg.Length;
long bufferSize = width * height;
IntPtr bufferPointer = surfaceMsg.Data;
short[] ranges = new short[bufferSize];
Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
context.xResolution = (double)surfaceMsg.XResolution / 1000000.0;
context.zResolution = (double)surfaceMsg.ZResolution / 1000000.0;
context.yResolution = (double)surfaceMsg.YResolution / 1000000.0;
context.yOffset = (double)surfaceMsg.YOffset / 1000.0;
context.xOffset = (double)surfaceMsg.XOffset / 1000.0;
context.zOffset = (double)surfaceMsg.ZOffset / 1000.0;
double phy_x;
double phy_y;
double phy_z;
FileStream fs = new FileStream(strFileSave, FileMode.Create);
StreamWriter sw = new StreamWriter(fs);
for (int m = 0; m < height; m++)
{
for (int j = 0; j < width; j++)
{
phy_z = ranges[m * width + j] * context.zResolution + context.zOffset;
if (/*phy_z > 20*/ true) //这个过滤阈值根据实际情况选取
{
phy_x = j * context.xResolution + context.xOffset;
phy_y = m * context.yResolution + context.yOffset;
strWrite = string.Format("{0} {1} {2}", phy_x, phy_y, phy_z);
sw.WriteLine(strWrite);
}
}
}
sw.Flush();
//关闭流
sw.Close();
fs.Close();
}
break;
case GoDataMessageType.Profile:
{
StreamWriter write = new StreamWriter(strFileSave, true);
GoProfileMsg profileMsg = (GoProfileMsg)dataObj;
Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
int validPointCount = 0;
long profilePointCount = profileMsg.Width;
Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width);
context.xResolution = (profileMsg.XResolution / 1000000.0);
context.zResolution = profileMsg.ZResolution / 1000000.0;
context.xOffset = profileMsg.XOffset / 1000.0;
context.zOffset = profileMsg.ZOffset / 1000.0;
GoPoints[] points = new GoPoints[profilePointCount];
point[] point111 = new point[profilePointCount];
ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount];
int structSize = Marshal.SizeOf(typeof(GoPoints));
IntPtr pointsPtr = profileMsg.Data;
for (UInt32 array = 0; array < profilePointCount; ++array)
{
IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize);
points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints));
double real_x = (context.xOffset + context.xResolution * points[array].x);
double real_z = (context.zOffset + context.zResolution * points[array].y);
if (length_incr == true)
{
length += 1; //ReadIniSettings.ReadIni.objIniValue.iniScanner.step;
length_incr = false;
}
if (real_z > 60 && real_z < 800)
{
write.WriteLine(real_x + " " + length + " " + real_z);
}
}
write.Flush();
}
write.Close();
}
break;
case GoDataMessageType.ProfileIntensity:
{
GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj;
Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
byte[] intensity = new byte[profileMsg.Width];
IntPtr intensityPtr = profileMsg.Data;
Marshal.Copy(intensityPtr, intensity, 0, intensity.Length);
}
}
break;
case GoDataMessageType.Measurement: // Measurement
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
}
break;
}
}
bDataSaved = true;
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
GoDataSet dataSet = new GoDataSet();
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
system.EnableData(true);
system.Start();
// refer to SetupMeasurement.cs for setting up of the measurement tools
dataSet = system.ReceiveData(30000000);
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; ++k)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
Console.WriteLine("ID: {0}", measurementMsg.Id);
Console.WriteLine("Value: {0}", measurementData.Value);
Console.WriteLine("Decision: {0}", measurementData.Decision);
}
}
break;
}
}
system.Stop();
}
catch (KException ex)
{
Console.WriteLine("Error: {0}", ex.Status);
}
// wait for ESC key
Console.WriteLine("\nPress ENTER to continue");
do
{
System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
return(1);
}
public static void takephoto(string name2)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
GoDataSet dataSet = new GoDataSet();
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
GoSetup setup = sensor.Setup;
setup.ScanMode = GoMode.Surface;
system.EnableData(true);
system.Start();
Console.WriteLine("Waiting for Whole Part Data...");
dataSet = system.ReceiveData(30000000);
//DataContext context = new DataContext();
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.UniformSurface:
{
GoUniformSurfaceMsg goSurfaceMsg = (GoUniformSurfaceMsg)dataObj; // 定义变量gosurfacemsg,类型gosurfacemsg
long length = goSurfaceMsg.Length; //surface长度
long width = goSurfaceMsg.Width; //surface宽度
long bufferSize = width * length;
double XResolution = goSurfaceMsg.XResolution / 1000000.0; //surface 数据X方向分辨率为nm,转为mm
double YResolution = goSurfaceMsg.YResolution / 1000000.0; //surface 数据Y方向分辨率为nm,转为mm
double ZResolution = goSurfaceMsg.ZResolution / 1000000.0; //surface 数据Z方向分辨率为nm,转为mm
double XOffset = goSurfaceMsg.XOffset / 1000.0; //接收到surface数据X方向补偿单位um，转mm
double YOffset = goSurfaceMsg.YOffset / 1000.0; //接收到surface数据Y方向补偿单位um，转mm
double ZOffset = goSurfaceMsg.ZOffset / 1000.0; //接收到surface数据Z方向补偿单位um，转mm
IntPtr bufferPointer = goSurfaceMsg.Data;
int rowIdx, colIdx;
SurfacePoints[] surfacePointCloud = new SurfacePoints[bufferSize];
short[] ranges = new short[bufferSize];
Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
FileStream fs;
string path = string.Format("D:\\Grasp\\Grasp\\EyeToHandData\\{0}.txt", name2);
//if (!File.Exists(path))
//{
fs = new FileStream(path, FileMode.Create, FileAccess.Write);
//else
//{
// fs = new FileStream(path, FileMode.Append, FileAccess.Write);
//}
StreamWriter sr = new StreamWriter(fs);
for (rowIdx = 0; rowIdx < length; rowIdx++) //row is in Y direction
{
for (colIdx = 0; colIdx < width; colIdx++) //col is in X direction
{
surfacePointCloud[rowIdx * width + colIdx].x = colIdx * XResolution + XOffset; //客户需要的点云数据X值
surfacePointCloud[rowIdx * width + colIdx].y = rowIdx * YResolution + YOffset; //客户需要的点云数据Y值
surfacePointCloud[rowIdx * width + colIdx].z = ranges[rowIdx * width + colIdx] * ZResolution + ZOffset; //客户需要的点云数据Z值
sr.WriteLine(surfacePointCloud[rowIdx * width + colIdx].x + "," + surfacePointCloud[rowIdx * width + colIdx].y + "," + surfacePointCloud[rowIdx * width + colIdx].z); //开始写入值
}
}
sr.Write("end");
//ushort[] ZValues = new ushort[ranges.Length];
//for (int k = 0; k < ranges.Length; k++)
//{
// ZValues[k] = (ushort)(ranges[k] - short.MinValue);
//}
//for (UInt32 k = 0; k < bufferSize; k++)
//{
// sr.WriteLine(surfacePointCloud[k].x.ToString() + "," + surfacePointCloud[k].y.ToString() + "," + surfacePointCloud[k].z.ToString());//开始写入值
//}
sr.Close();
fs.Close();
}
break;
case GoDataMessageType.SurfaceIntensity:
{
GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
long width = surfaceMsg.Width;
long height = surfaceMsg.Length;
long bufferSize = width * height;
IntPtr bufferPointeri = surfaceMsg.Data;
Console.WriteLine("Whole Part Intensity Image received:");
Console.WriteLine(" Buffer width: {0}", width);
Console.WriteLine(" Buffer height: {0}", height);
byte[] ranges = new byte[bufferSize];
Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);
}
break;
}
}
system.Stop();
}
catch (KException ex)
{
Console.WriteLine("Error: {0}", ex.Status);
}
// wait for ESC key
//Console.WriteLine("\nPress ENTER to continue");
//do
//{
// System.Threading.Thread.Sleep(100);
//} while (Console.Read() != (int)ConsoleKey.Enter);
}
public void ReceiveData(KObject data)
{
// 데이터 들어오면 카메라 시스템 정지
var pDocument = DeepSight.CDocument.GetDocument;
//if( CDefine.enumTrigger.TRIGGER_OFF == pDocument.GetTrigger( ( int )CDefine.enumCamera.CAMERA_1 ) ) return;
m_objCameraSystem.Stop();
CImageData3D objImageData3D = new CImageData3D();
// 일단 해상도를 임의로 지정하자
GoDataSet dataSet = ( GoDataSet )data;
pDocument.SetUpdateLog(CDefine.enumLogType.LOG_PROCESS, "GOCATOR RECEIVE DATA : " + dataSet.Count.ToString());
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = ( GoDataMsg )dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp: {
GoStampMsg stampMsg = ( GoStampMsg )dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.UniformSurface: {
#pragma warning disable CS0618 // 형식 또는 멤버는 사용되지 않습니다.
GoSurfaceMsg surfaceMsg = ( GoSurfaceMsg )dataObj;
#pragma warning restore CS0618 // 형식 또는 멤버는 사용되지 않습니다.
objImageData3D.iOffsetZ = surfaceMsg.ZOffset;
objImageData3D.iResolutionX = surfaceMsg.XResolution; // * DEF_3D_DATA_MULTIPLE;
objImageData3D.iResolutionY = surfaceMsg.YResolution;
objImageData3D.iResolutionZ = surfaceMsg.ZResolution;
int lWidth = objImageData3D.iWidth = ( int )surfaceMsg.Width;
int lHeight = objImageData3D.iHeight = ( int )surfaceMsg.Length;
int bufferSize = lWidth * lHeight;
IntPtr bufferPointer = surfaceMsg.Data;
Console.WriteLine("Whole Part Height Map received:");
Console.WriteLine(" Buffer width: {0}", lWidth);
Console.WriteLine(" Buffer Height: {0}", lHeight);
objImageData3D.objHeightDataOrigin = new short[bufferSize];
Marshal.Copy(bufferPointer, objImageData3D.objHeightDataOrigin, 0, objImageData3D.objHeightDataOrigin.Length);
// SetDataToCsv("d:\\test.csv", objImageData3D.objHeightDataOrigin);
}
break;
case GoDataMessageType.SurfaceIntensity: {
GoSurfaceIntensityMsg surfaceMsg = ( GoSurfaceIntensityMsg )dataObj;
long width = surfaceMsg.Width;
long length = surfaceMsg.Length;
long bufferSize = width * length;
IntPtr bufferPointeri = surfaceMsg.Data;
Console.WriteLine("Whole Part Intensity Image received:");
Console.WriteLine(" Buffer width: {0}", width);
Console.WriteLine(" Buffer length: {0}", length);
objImageData3D.objIntensityDataOrigin = new byte[bufferSize];
Marshal.Copy(bufferPointeri, objImageData3D.objIntensityDataOrigin, 0, objImageData3D.objIntensityDataOrigin.Length);
// objImageData3D.objBitmapIntensity = CopyDataToBitmap( ( int )length, ( int )width, objImageData3D.objIntensityDataOrigin );
// objImageData3D.objBitmapIntensity.Save( "d:\\Intensity.bmp" );
}
break;
default:
break;
}
}
if (null != m_objCallback)
{
CImageData objData = new CImageData();
objData.bGrabComplete = true;
objData.bitmapImage = objImageData3D.objBitmapIntensity;
objData.objCameraData3D = objImageData3D;
m_objCallback(objData);
}
iGCCollectCount++;
if (1 < iGCCollectCount)
{
GC.Collect();
iGCCollectCount = 0;
}
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
GoDataSet dataSet = new GoDataSet();
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
system.EnableData(true);
system.Start();
dataSet = system.ReceiveData(30000000);
DataContext context = new DataContext();
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.UniformProfile:
{
GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj;
Console.WriteLine(" Resampled Profile Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
int validPointCount = 0;
int profilePointCount = profileMsg.Width;
Console.WriteLine(" Item[{0}]: Profile data ({1} points)", k, profileMsg.Width);
context.xResolution = (double)profileMsg.XResolution / 1000000;
context.zResolution = (double)profileMsg.ZResolution / 1000000;
context.xOffset = (double)profileMsg.XOffset / 1000;
context.zOffset = (double)profileMsg.ZOffset / 1000;
short[] points = new short[profilePointCount];
ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount];
IntPtr pointsPtr = profileMsg.Data;
Marshal.Copy(pointsPtr, points, 0, points.Length);
for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex)
{
if (points[arrayIndex] != -32768)
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex;
profileBuffer[arrayIndex].z = context.zOffset + context.zResolution * points[arrayIndex];
validPointCount++;
}
else
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex;
profileBuffer[arrayIndex].z = -32768;
}
}
Console.WriteLine("Received {0} Range Points", profilePointCount);
Console.WriteLine("Valid Points {0}", validPointCount);
}
}
break;
case GoDataMessageType.ProfilePointCloud:
{
GoProfileMsg profileMsg = (GoProfileMsg)dataObj;
Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
int validPointCount = 0;
long profilePointCount = profileMsg.Width;
Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width);
context.xResolution = profileMsg.XResolution / 1000000;
context.zResolution = profileMsg.ZResolution / 1000000;
context.xOffset = profileMsg.XOffset / 1000;
context.zOffset = profileMsg.ZOffset / 1000;
GoPoints[] points = new GoPoints[profilePointCount];
ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount];
int structSize = Marshal.SizeOf(typeof(GoPoints));
IntPtr pointsPtr = profileMsg.Data;
for (UInt32 array = 0; array < profilePointCount; ++array)
{
IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize);
points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints));
}
for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex)
{
if (points[arrayIndex].x != -32768)
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * points[arrayIndex].x;
profileBuffer[arrayIndex].z = context.xOffset + context.xResolution * points[arrayIndex].y;
validPointCount++;
}
else
{
profileBuffer[arrayIndex].x = -32768;
profileBuffer[arrayIndex].z = -32768;
}
}
Console.WriteLine("Received {0} Range Points", profilePointCount);
Console.WriteLine("Valid Points {0}", validPointCount);
}
}
break;
case GoDataMessageType.ProfileIntensity:
{
GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj;
Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
byte[] intensity = new byte[profileMsg.Width];
IntPtr intensityPtr = profileMsg.Data;
Marshal.Copy(intensityPtr, intensity, 0, intensity.Length);
}
}
break;
}
}
system.Stop();
}
catch (KException ex)
{
Console.WriteLine("Error: {0}", ex.Status);
}
// wait for ESC key
Console.WriteLine("\nPress ENTER to continue");
do
{
System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
return(1);
}