//double GD_semiMajorAxis = 6378137.000000;
        //double GD_TranMercB = 6356752.314245;
        //double GD_geocentF = 0.003352810664;
        //void geodeticOffsetInv(double refLat, double refLon,
        //                        double lat, double lon,
        //                       out double xOffset, out double yOffset )
        //{
        //    double a = GD_semiMajorAxis;
        //    double b = GD_TranMercB;
        //    double f = GD_geocentF;

        //    double L = lon - refLon;
        //    double U1 = Math.Atan((1 - f) * Math.Tan(refLat));
        //    double U2 = Math.Atan((1 - f) * Math.Tan(lat));
        //    double sinU1 = Math.Sin(U1);
        //    double cosU1 = Math.Cos(U1);
        //    double sinU2 = Math.Sin(U2);
        //    double cosU2 = Math.Cos(U2);

        //    double lambda = L;
        //    double lambdaP;
        //    double sinSigma;
        //    double sigma;
        //    double cosSigma;
        //    double cosSqAlpha;
        //    double cos2SigmaM;
        //    double sinLambda;
        //    double cosLambda;
        //    double sinAlpha;
        //    int iterLimit = 100;
        //    do
        //    {
        //        sinLambda = Math.Sin(lambda);
        //        cosLambda = Math.Cos(lambda);
        //        sinSigma = Math.Sqrt((cosU2 * sinLambda) * (cosU2 * sinLambda) +
        //                        (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda) *
        //                        (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda));
        //        if (sinSigma == 0)
        //        {
        //            xOffset = 0.0;
        //            yOffset = 0.0;
        //            return;  // co-incident points
        //        }
        //        cosSigma = sinU1 * sinU2 + cosU1 * cosU2 * cosLambda;
        //        sigma = Math.Atan2(sinSigma, cosSigma);
        //        sinAlpha = cosU1 * cosU2 * sinLambda / sinSigma;
        //        cosSqAlpha = 1 - sinAlpha * sinAlpha;
        //        if(cosSqAlpha == 0)
        //            cos2SigmaM = 0;
        //        else
        //            cos2SigmaM = cosSigma - 2 * sinU1 * sinU2 / cosSqAlpha;

        //        double C = f / 16 * cosSqAlpha * (4 + f * (4 - 3 * cosSqAlpha));
        //        lambdaP = lambda;
        //        lambda = L + (1 - C) * f * sinAlpha * (sigma + C * sinSigma * (cos2SigmaM + C * cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM)));

        //    } while (Math.Abs(lambda - lambdaP) > 1e-12 && --iterLimit > 0);

        //    if (iterLimit == 0)
        //    {
        //        xOffset = 0.0;
        //        yOffset = 0.0;
        //        return;  // formula failed to converge
        //    }

        //    double uSq = cosSqAlpha * (a * a - b * b) / (b * b);
        //    double A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
        //    double B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));
        //    double deltaSigma = B * sinSigma * (cos2SigmaM + B / 4 * (cosSigma * (-1 + 2 * cos2SigmaM * cos2SigmaM) -
        //        B / 6 * cos2SigmaM * (-3 + 4 * sinSigma * sinSigma) * (-3 + 4 * cos2SigmaM * cos2SigmaM)));
        //    double s = b * A * (sigma - deltaSigma);

        //    double bearing = Math.Atan2(cosU2 * sinLambda, cosU1 * sinU2 - sinU1 * cosU2 * cosLambda);
        //    xOffset = Math.Sin(bearing) * s;
        //    yOffset = Math.Cos(bearing) * s;

        //    return;
        //}

        public void BuildKMLFile()
        {
            KMLFile kmlFile = new KMLFile();

            kmlFile.LoadXML("SamplePath.kml");
            kmlFile.SetName(videoName);
            string coordinatesStr = "";
            bool   isFirst        = true;
            int    count          = 0;
            int    gpsCount       = 0;

            foreach (var node in m_images_gps5_list)
            {
                gpsCount++;
                GPS5DataFile.GPS5Data gpsData = node.Value;
                if (isFirst)
                {
                    coordinatesStr += Convert.ToString(gpsData.longitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.latitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.altitude);
                    coordinatesStr += "\n ";
                    isFirst         = false;
                    count++;
                    continue;
                }
                if (gpsData.speed_2d < 1.0)
                {
                    continue;
                }
                if (gpsCount % 30 == 0)
                {
                    coordinatesStr += Convert.ToString(gpsData.longitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.latitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.altitude);
                    coordinatesStr += "\n ";
                    count++;
                    continue;
                }
                if (gpsData.frame == max_count_image_idx)
                {
                    coordinatesStr += Convert.ToString(gpsData.longitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.latitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.altitude);
                    coordinatesStr += "\n ";
                    count++;
                    continue;
                }
                //string filename = node.Key;
            }

            kmlFile.SetCoordinates(coordinatesStr);
            kmlFile.SaveXML(kmlFilename);
        }
        public void BuildXMPFiles()
        {
            if (m_images_gps5_list.Count < 1)
            {
                return;
            }

            BuildKMLFile();
            var nodeFirst = m_images_gps5_list.First();

            GPS5DataFile.GPS5Data gpsDataFirst = nodeFirst.Value;
            double latRef = gpsDataFirst.latitude;
            double lonRef = gpsDataFirst.longitude;

            foreach (var node in m_images_gps5_list)
            {
                GPS5DataFile.GPS5Data gpsData = node.Value;
                string filename        = node.Key;
                string path            = Path.GetDirectoryName(filename);
                string output_filename = Path.GetFileNameWithoutExtension(filename);
                output_filename += ".xmp";
                output_filename  = Path.Combine(path, output_filename);

                XMPFile xmp_file = new XMPFile();
                xmp_file.LoadXML("Sample.xmp");
                xmp_file.RemoveNode(100);
                xmp_file.RemoveNode(102);
                xmp_file.RemoveAttribute(1);
                // xmp_file.SetGroup();
                //  xmp_file.SetGPSData(gpsData.latitude, gpsData.longitude, gpsData.altitude);
                double posX;
                double posY;
                //geodeticOffsetInv(latRef, lonRef, gpsData.latitude, gpsData.longitude,out posX,out posY);

                posX = KMLFile.distanceEarth(latRef, lonRef, latRef, gpsData.longitude);
                if (lonRef > gpsData.longitude)
                {
                    posX *= -1.0;
                }
                posY = KMLFile.distanceEarth(latRef, lonRef, gpsData.latitude, lonRef);
                if (latRef > gpsData.latitude)
                {
                    posY *= -1.0;
                }

                posX *= 1000.0;
                posY *= 1000.0;
                xmp_file.SetPosition(posX, posY, gpsData.altitude);
                xmp_file.SaveXML(output_filename);
            }
            return;
        }
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        public void BuildGPSZones()
        {
            var gpsFirstNode = m_total_gps_data_list.First();

            GPS5DataFile.GPS5Data gpsDataFirst = gpsFirstNode.Value;
            double latRef = gpsDataFirst.latitude;
            double lonRef = gpsDataFirst.longitude;

            //m_total_images.OrderBy();
            foreach (var node in m_total_images)
            {
                int    idx       = node.Key;
                string imageName = node.Value;
                //Caculate XYZ;
                GPS5DataFile.GPS5Data gpsData = m_total_gps_data_list[imageName];
                double posX;
                double posY;
                posX = KMLFile.distanceEarth(latRef, lonRef, latRef, gpsData.longitude);
                if (lonRef > gpsData.longitude)
                {
                    posX *= -1.0;
                }
                posY = KMLFile.distanceEarth(latRef, lonRef, gpsData.latitude, lonRef);
                if (latRef > gpsData.latitude)
                {
                    posY *= -1.0;
                }
                // km -> m
                posX           *= 1000.0;
                posY           *= 1000.0;
                gpsData.posX    = posX;
                gpsData.posY    = posY;
                gpsData.idxZone = GPS5DataFile.PushGPSDataToZone(gpsData);
                m_total_gps_data_list[imageName] = gpsData;
            }
        }
Esempio n. 4
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        public void LoadGPSFile_csv(string filename)
        {
            gps_csv_filename = filename;
            StreamReader reader = new StreamReader(filename);
            int          count  = 0;
            double       latRef = 0;
            double       lonRef = 0;

            while (!reader.EndOfStream)
            {
                var line = reader.ReadLine();
                if (line.Length <= 3)
                {
                    continue;
                }
                if (line[0] == '#')
                {
                    continue;
                }
                var values = line.Split(',');
                if (values.Length < 2)
                {
                    continue;
                }

                if (count == 0)
                {
                    count++;
                    continue;
                }

                GPSData line_data = new GPSData();
                line_data.idx       = count;
                line_data.timeStamp = Convert.ToInt64(values[0]);
                line_data.latitude  = Convert.ToDouble(values[1]);
                line_data.longitude = Convert.ToDouble(values[2]);
                line_data.altitude  = Convert.ToDouble(values[3]);
                line_data.heading   = Convert.ToDouble(values[4]);

                if (count == 1)
                {
                    line_data.posX = 0;
                    line_data.posY = 0;
                    latRef         = line_data.latitude;
                    lonRef         = line_data.longitude;
                }
                else
                {
                    double posX;
                    double posY;
                    posX = KMLFile.distanceEarth(latRef, lonRef, latRef, line_data.longitude);
                    if (lonRef > line_data.longitude)
                    {
                        posX *= -1.0;
                    }
                    posY = KMLFile.distanceEarth(latRef, lonRef, line_data.latitude, lonRef);
                    if (latRef > line_data.latitude)
                    {
                        posY *= -1.0;
                    }
                    // km -> m
                    line_data.posX = posX * 1000.0;
                    line_data.posY = posY * 1000.0;
                }


                m_gps_data.Add(count, line_data);
                count++;
            }
            reader.Close();
            return;
        }
Esempio n. 5
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        public void BuildKMLFile()
        {
            string  kmlFilename = Path.Combine(destFolder, sceneName + ".kml");
            KMLFile kmlFile     = new KMLFile();

            kmlFile.LoadXML("SamplePath.kml");
            kmlFile.SetName(sceneName);
            string coordinatesStr = "";
            bool   isFirst        = true;
            int    count          = 0;
            int    gpsCount       = 0;

            foreach (var node in m_total_gps_data_list)
            {
                gpsCount++;
                GPS5DataFile.GPS5Data gpsData = node.Value;
                if (isFirst)
                {
                    coordinatesStr += Convert.ToString(gpsData.longitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.latitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.altitude);
                    coordinatesStr += "\n ";
                    isFirst         = false;
                    count++;
                    continue;
                }
                if (gpsData.speed_2d < 1.0)
                {
                    continue;
                }
                if (gpsCount % 30 == 0)
                {
                    coordinatesStr += Convert.ToString(gpsData.longitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.latitude);
                    coordinatesStr += ",";
                    coordinatesStr += Convert.ToString(gpsData.altitude);
                    coordinatesStr += "\n ";
                    count++;
                    continue;
                }
                //if (gpsData.frame == max_count_image_idx)
                //{
                //    coordinatesStr += Convert.ToString(gpsData.longitude);
                //    coordinatesStr += ",";
                //    coordinatesStr += Convert.ToString(gpsData.latitude);
                //    coordinatesStr += ",";
                //    coordinatesStr += Convert.ToString(gpsData.altitude);
                //    coordinatesStr += "\n ";
                //    count++;
                //    continue;
                //}
                //string filename = node.Key;
            }

            kmlFile.SetCoordinates(coordinatesStr);
            kmlFile.SaveXML(kmlFilename);
            Program.AddLog("Save KML: " + kmlFilename);
            return;
        }
Esempio n. 6
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        public void BuildTotalImagesFolder(double gapLimit)
        {
            if (!Directory.Exists(destFolder))
            {
                Directory.CreateDirectory(destFolder);
            }
            //string removeImgFolder = Path.Combine(destFolder, "Remove");
            //if (!Directory.Exists(removeImgFolder))
            //{
            //    Directory.CreateDirectory(removeImgFolder);
            //}
            var gpsFirstNode = m_total_gps_data_list.First();

            GPS5DataFile.GPS5Data gpsDataFirst = gpsFirstNode.Value;
            double latRef   = gpsDataFirst.latitude;
            double lonRef   = gpsDataFirst.longitude;
            double lastPosX = 0;
            double lastPosY = 0;
            double lastPosZ = 0;
            bool   gapCheck = false;

            foreach (var node in m_total_images)
            {
                int    idx       = node.Key;
                string imageName = node.Value;
                //Caculate XYZ;
                GPS5DataFile.GPS5Data gpsData = m_total_gps_data_list[imageName];
                double posX;
                double posY;
                posX = KMLFile.distanceEarth(latRef, lonRef, latRef, gpsData.longitude);
                if (lonRef > gpsData.longitude)
                {
                    posX *= -1.0;
                }
                posY = KMLFile.distanceEarth(latRef, lonRef, gpsData.latitude, lonRef);
                if (latRef > gpsData.latitude)
                {
                    posY *= -1.0;
                }
                // km -> m
                posX *= 1000.0;
                posY *= 1000.0;

                //Check gap limit
                if (!gapCheck)
                {
                    lastPosX = posX;
                    lastPosY = posY;
                    lastPosZ = gpsData.altitude;
                    gapCheck = true;
                }
                else
                {
                    double dist = (posX - lastPosX) * (posX - lastPosX) + (posY - lastPosY) * (posY - lastPosY) + (gpsData.altitude - lastPosZ) * (gpsData.altitude - lastPosZ);
                    dist = Math.Sqrt(dist);
                    if (dist < gapLimit)
                    {
                        continue;
                    }
                    else
                    {
                        lastPosX = posX;
                        lastPosY = posY;
                        lastPosZ = gpsData.altitude;
                    }
                }

                //string filename = Path.GetFileName(imageName);
                string newFilename     = m_total_new_image_name[imageName];
                string destImgFilename = Path.Combine(destFolder, newFilename);
                File.Move(imageName, destImgFilename);

                Program.AddLog("Move: " + imageName + " To " + destImgFilename);

                string xmpFilename = Path.GetFileNameWithoutExtension(newFilename);
                xmpFilename += ".xmp";
                xmpFilename  = Path.Combine(destFolder, xmpFilename);
                XMPFile xmp_file = new XMPFile();
                xmp_file.LoadXML("Sample.xmp");
                xmp_file.RemoveNode(100);
                xmp_file.RemoveNode(102);
                xmp_file.RemoveAttribute(1);
                xmp_file.SetPosition(posX, posY, gpsData.altitude);
                xmp_file.SaveXML(xmpFilename);

                // Program.AddLog("Save XMP file: " + xmpFilename);
            }
        }