public static Kml AsKml(this IList <Coordinate> coordinates) { var top = coordinates.Max(q => q.Z); var kml = new Kml { Feature = new Document() }; for (var i = 0; i < coordinates.Count() - 1; i++) { LineString ls = new LineString { AltitudeMode = AltitudeMode.Absolute, Extrude = false }; ls.Coordinates = new CoordinateCollection(); // I guess KML (and Google Earth) works with an altitude in meters. So therefore the 0.3048. ls.Coordinates.Add(new Vector(coordinates[i].Y, coordinates[i].X, coordinates[i].Z * 0.3048)); ls.Coordinates.Add(new Vector(coordinates[i + 1].Y, coordinates[i + 1].X, coordinates[i + 1].Z * 0.3048)); var placemark = new Placemark { Geometry = ls }; placemark.AddStyle(new Style { Line = new LineStyle { Color = GetColor(coordinates[i].Z / top) } }); kml.Feature.AddChild(placemark); } return(kml); }
public void writeKML(string filename) { try { writeGPX(filename); } catch { } try { writeRinex(filename); } catch { } try { writeWPFile(filename); } catch { } try { writeParamFile(filename); } catch { } Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink }; AltitudeMode altmode = AltitudeMode.absolute; KMLRoot kml = new KMLRoot(); Folder fldr = new Folder("Log"); Style style = new Style(); style.Id = "yellowLineGreenPoly"; style.Add(new LineStyle(HexStringToColor("7f00ffff"), 4)); Style style1 = new Style(); style1.Id = "spray"; style1.Add(new LineStyle(HexStringToColor("4c0000ff"), 0)); style1.Add(new PolyStyle() { Color = HexStringToColor("4c0000ff") }); PolyStyle pstyle = new PolyStyle(); pstyle.Color = HexStringToColor("7f00ff00"); style.Add(pstyle); kml.Document.AddStyle(style); kml.Document.AddStyle(style1); int stylecode = 0xff; int g = -1; foreach (List <Point3D> poslist in position) { g++; if (poslist == null) { continue; } /* * List<PointLatLngAlt> pllalist = new List<PointLatLngAlt>(); * * foreach (var point in poslist) * { * pllalist.Add(new PointLatLngAlt(point.Y, point.X, point.Z, "")); * } * * var ans = Utilities.LineOffset.GetPolygon(pllalist, 2); * * * * while (ans.Count > 0) * { * var first = ans[0]; * var second = ans[1]; * var secondlast = ans[ans.Count - 2]; * var last = ans[ans.Count-1]; * * ans.Remove(first); * ans.Remove(last); * * var polycoords = new BoundaryIs(); * * polycoords.LinearRing = new LinearRing(); * * polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1)); * polycoords.LinearRing.Coordinates.Add(new Point3D(second.Lng, second.Lat, 1)); * polycoords.LinearRing.Coordinates.Add(new Point3D(secondlast.Lng, secondlast.Lat, 1)); * polycoords.LinearRing.Coordinates.Add(new Point3D(last.Lng, last.Lat, 1)); * polycoords.LinearRing.Coordinates.Add(new Point3D(first.Lng, first.Lat, 1)); * * //if (!IsClockwise(polycoords.LinearRing.Coordinates)) * // polycoords.LinearRing.Coordinates.Reverse(); * * Polygon kmlpoly = new Polygon() { AltitudeMode = AltitudeMode.relativeToGround, Extrude = false, OuterBoundaryIs = polycoords }; * * Placemark pmpoly = new Placemark(); * pmpoly.Polygon = kmlpoly; * pmpoly.name = g + " test"; * pmpoly.styleUrl = "#spray"; * * fldr.Add(pmpoly); * } */ LineString ls = new LineString(); ls.AltitudeMode = altmode; ls.Extrude = true; //ls.Tessellate = true; Coordinates coords = new Coordinates(); coords.AddRange(poslist); ls.coordinates = coords; Placemark pm = new Placemark(); string mode = ""; if (g < modelist.Count) { mode = modelist[g]; } pm.name = g + " Flight Path " + mode; pm.styleUrl = "#yellowLineGreenPoly"; pm.LineString = ls; stylecode = colours[g % (colours.Length - 1)].ToArgb(); Style style2 = new Style(); Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff, (stylecode >> 0) & 0xff); log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString()); style2.Add(new LineStyle(color, 4)); pm.AddStyle(style2); fldr.Add(pm); } Placemark pmPOS = new Placemark(); pmPOS.name = "POS Message"; pmPOS.LineString = new LineString(); pmPOS.LineString.coordinates = new Coordinates(); Point3D lastPoint3D = new Point3D(); PointLatLngAlt lastplla = PointLatLngAlt.Zero; foreach (var item in PosLatLngAlts) { var newpoint = new Point3D(item.Lng, item.Lat, item.Alt); if (item.GetDistance(lastplla) < 0.1 && lastPoint3D.Z >= (newpoint.Z - 0.3) && lastPoint3D.Z <= (newpoint.Z + 0.3)) { continue; } pmPOS.LineString.coordinates.Add(newpoint); lastPoint3D = newpoint; lastplla = item; if (pmPOS.LineString.coordinates.Count > 20000) { //add current pmPOS.AddStyle(style); fldr.Add(pmPOS); // create new pmPOS = new Placemark(); pmPOS.name = "POS Message - extra"; pmPOS.LineString = new LineString(); pmPOS.LineString.coordinates = new Coordinates(); lastPoint3D = new Point3D(); lastplla = PointLatLngAlt.Zero; } } pmPOS.AddStyle(style); fldr.Add(pmPOS); Folder planes = new Folder(); planes.name = "Planes"; fldr.Add(planes); Folder waypoints = new Folder(); waypoints.name = "Waypoints"; fldr.Add(waypoints); LineString lswp = new LineString(); lswp.AltitudeMode = AltitudeMode.relativeToGround; lswp.Extrude = true; Coordinates coordswp = new Coordinates(); foreach (PointLatLngAlt p1 in cmd) { if (p1.Lng == 0 && p1.Lat == 0) { continue; } coordswp.Add(new Point3D(p1.Lng, p1.Lat, p1.Alt)); } lswp.coordinates = coordswp; Placemark pmwp = new Placemark(); pmwp.name = "Waypoints"; //pm.styleUrl = "#yellowLineGreenPoly"; pmwp.LineString = lswp; if (coordswp.Count > 0) { waypoints.Add(pmwp); } int a = 0; int l = -1; Model lastmodel = null; foreach (Data mod in flightdata) { l++; if (mod.model.Location.latitude == 0) { continue; } if (lastmodel != null) { if (lastmodel.Location.Equals(mod.model.Location)) { continue; } } Placemark pmplane = new Placemark(); pmplane.name = "Plane " + a; pmplane.visibility = false; Model model = mod.model; model.AltitudeMode = altmode; model.Scale.x = 2; model.Scale.y = 2; model.Scale.z = 2; try { pmplane.description = @"<![CDATA[ <table> <tr><td>Roll: " + model.Orientation.roll + @" </td></tr> <tr><td>Pitch: " + model.Orientation.tilt + @" </td></tr> <tr><td>Yaw: " + model.Orientation.heading + @" </td></tr> <tr><td>WP dist " + mod.ntun[2] + @" </td></tr> <tr><td>tar bear " + mod.ntun[3] + @" </td></tr> <tr><td>nav bear " + mod.ntun[4] + @" </td></tr> <tr><td>alt error " + mod.ntun[5] + @" </td></tr> </table> ]]>"; } catch { } try { pmplane.Point = new KmlPoint((float)model.Location.longitude, (float)model.Location.latitude, (float)model.Location.altitude); pmplane.Point.AltitudeMode = altmode; Link link = new Link(); link.href = "block_plane_0.dae"; model.Link = link; pmplane.Model = model; planes.Add(pmplane); } catch { } // bad lat long value lastmodel = mod.model; a++; } kml.Document.Add(fldr); kml.Save(filename); // create kmz - aka zip file FileStream fs = File.Open(filename.ToLower().Replace(".log.kml", ".kmz").Replace(".bin.kml", ".kmz"), FileMode.Create); ZipOutputStream zipStream = new ZipOutputStream(fs); zipStream.SetLevel(9); //0-9, 9 being the highest level of compression zipStream.UseZip64 = UseZip64.Off; // older zipfile // entry 1 string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction ZipEntry newEntry = new ZipEntry(entryName); newEntry.DateTime = DateTime.Now; zipStream.PutNextEntry(newEntry); // Zip the file in buffered chunks // the "using" will close the stream even if an exception occurs byte[] buffer = new byte[4096]; using (FileStream streamReader = File.OpenRead(filename)) { StreamUtils.Copy(streamReader, zipStream, buffer); } zipStream.CloseEntry(); File.Delete(filename); filename = Settings.GetRunningDirectory() + "block_plane_0.dae"; // entry 2 entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction newEntry = new ZipEntry(entryName); newEntry.DateTime = DateTime.Now; zipStream.PutNextEntry(newEntry); // Zip the file in buffered chunks // the "using" will close the stream even if an exception occurs buffer = new byte[4096]; using (FileStream streamReader = File.OpenRead(filename)) { StreamUtils.Copy(streamReader, zipStream, buffer); } zipStream.CloseEntry(); zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream zipStream.Close(); positionindex = 0; modelist.Clear(); flightdata.Clear(); position = new List <Core.Geometry.Point3D> [200]; cmd.Clear(); cmdraw.Clear(); }
private void writeKML(string filename) { try { writeGPX(filename); } catch { } Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink }; AltitudeMode altmode = AltitudeMode.absolute; // all new logs have both agl and asl, we are using asl. this may break old logs // if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) { // altmode = AltitudeMode.relativeToGround; // because of sonar, this is both right and wrong. right for sonar, wrong in terms of gps as the land slopes off. } KMLRoot kml = new KMLRoot(); Folder fldr = new Folder("Log"); Style style = new Style(); style.Id = "yellowLineGreenPoly"; style.Add(new LineStyle(HexStringToColor("7f00ffff"), 4)); PolyStyle pstyle = new PolyStyle(); pstyle.Color = HexStringToColor("7f00ff00"); style.Add(pstyle); kml.Document.AddStyle(style); int stylecode = 0xff; int g = -1; foreach (List <Point3D> poslist in position) { g++; if (poslist == null) { continue; } LineString ls = new LineString(); ls.AltitudeMode = altmode; ls.Extrude = true; //ls.Tessellate = true; Coordinates coords = new Coordinates(); coords.AddRange(poslist); ls.coordinates = coords; Placemark pm = new Placemark(); string mode = ""; if (g < modelist.Count) { mode = modelist[g]; } pm.name = g + " Flight Path " + mode; pm.styleUrl = "#yellowLineGreenPoly"; pm.LineString = ls; stylecode = colours[g % (colours.Length - 1)].ToArgb(); Style style2 = new Style(); Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff, (stylecode >> 0) & 0xff); log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString()); style2.Add(new LineStyle(color, 4)); pm.AddStyle(style2); fldr.Add(pm); } Folder planes = new Folder(); planes.name = "Planes"; fldr.Add(planes); Folder waypoints = new Folder(); waypoints.name = "Waypoints"; fldr.Add(waypoints); LineString lswp = new LineString(); lswp.AltitudeMode = AltitudeMode.relativeToGround; lswp.Extrude = true; Coordinates coordswp = new Coordinates(); foreach (PointLatLngAlt p1 in cmd) { coordswp.Add(new Point3D(p1.Lng, p1.Lat, p1.Alt)); } lswp.coordinates = coordswp; Placemark pmwp = new Placemark(); pmwp.name = "Waypoints"; //pm.styleUrl = "#yellowLineGreenPoly"; pmwp.LineString = lswp; waypoints.Add(pmwp); int a = 0; int l = -1; Model lastmodel = null; foreach (Data mod in flightdata) { l++; if (mod.model.Location.latitude == 0) { continue; } if (lastmodel != null) { if (lastmodel.Location.Equals(mod.model.Location)) { continue; } } Placemark pmplane = new Placemark(); pmplane.name = "Plane " + a; pmplane.visibility = false; Model model = mod.model; model.AltitudeMode = altmode; model.Scale.x = 2; model.Scale.y = 2; model.Scale.z = 2; try { pmplane.description = @"<![CDATA[ <table> <tr><td>Roll: " + model.Orientation.roll + @" </td></tr> <tr><td>Pitch: " + model.Orientation.tilt + @" </td></tr> <tr><td>Yaw: " + model.Orientation.heading + @" </td></tr> <tr><td>WP dist " + mod.ntun[2] + @" </td></tr> <tr><td>tar bear " + mod.ntun[3] + @" </td></tr> <tr><td>nav bear " + mod.ntun[4] + @" </td></tr> <tr><td>alt error " + mod.ntun[5] + @" </td></tr> </table> ]]>"; } catch { } try { pmplane.Point = new KmlPoint((float)model.Location.longitude, (float)model.Location.latitude, (float)model.Location.altitude); pmplane.Point.AltitudeMode = altmode; Link link = new Link(); link.href = "block_plane_0.dae"; model.Link = link; pmplane.Model = model; planes.Add(pmplane); } catch { } // bad lat long value lastmodel = mod.model; a++; } kml.Document.Add(fldr); kml.Save(filename); // create kmz - aka zip file FileStream fs = File.Open(filename.Replace(".log.kml", ".kmz"), FileMode.Create); ZipOutputStream zipStream = new ZipOutputStream(fs); zipStream.SetLevel(9); //0-9, 9 being the highest level of compression zipStream.UseZip64 = UseZip64.Off; // older zipfile // entry 1 string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction ZipEntry newEntry = new ZipEntry(entryName); newEntry.DateTime = DateTime.Now; zipStream.PutNextEntry(newEntry); // Zip the file in buffered chunks // the "using" will close the stream even if an exception occurs byte[] buffer = new byte[4096]; using (FileStream streamReader = File.OpenRead(filename)) { StreamUtils.Copy(streamReader, zipStream, buffer); } zipStream.CloseEntry(); File.Delete(filename); filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae"; // entry 2 entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction newEntry = new ZipEntry(entryName); newEntry.DateTime = DateTime.Now; zipStream.PutNextEntry(newEntry); // Zip the file in buffered chunks // the "using" will close the stream even if an exception occurs buffer = new byte[4096]; using (FileStream streamReader = File.OpenRead(filename)) { StreamUtils.Copy(streamReader, zipStream, buffer); } zipStream.CloseEntry(); zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream zipStream.Close(); positionindex = 0; modelist.Clear(); flightdata.Clear(); position = new List <Core.Geometry.Point3D> [200]; cmd.Clear(); }
private static void Main(string[] args) { var logRepository = LogManager.GetRepository(Assembly.GetEntryAssembly()); XmlConfigurator.Configure(logRepository, new FileInfo("log4net.config")); CommandLineParser.CommandLineParser parser = new CommandLineParser.CommandLineParser(); ValueArgument <string> pathArg = new ValueArgument <string>( 'p', "path", "Path to a folder containing gravity vector files"); ValueArgument <string> outputArg = new ValueArgument <string>( 'o', "output", "Path to a folder for output KML files"); parser.Arguments.Add(pathArg); parser.Arguments.Add(outputArg); parser.ParseCommandLine(args); if (pathArg.Parsed) { var path = Path.GetFullPath(pathArg.Value); var outputPath = Path.GetFullPath(outputArg.Value); if (Directory.Exists(path)) { var files = Directory.GetFiles(path, "*", SearchOption.AllDirectories); int fileCount = files.Count(); Log.Debug($"Loading {fileCount} gravity vectors"); Log.Debug("Starting.."); int processedFiles = 0; ulong accRecords = 0; Parallel.ForEach(files, file => { try { string kmlFileName = Path.Combine(outputPath, Path.GetFileName(file) + ".kml"); Serializer serializer = new Serializer(); Kml kml = new Kml(); var currentClusterIndex = -1d; DataModel.GravityVector previousGravityVector = null; LineString previousClusterSegment = null; Folder rootFolder = new Folder(); Folder folder = null; var records = Util.ReadCsvFile <DataModel.GravityVector, GravityVectorCsvClassMap>(file); accRecords += (ulong)(records.Count); //Log.Debug($"Processing {Path.GetFileName(kmlFileName)}: {records.Count()} records"); foreach (var record in records) { // Skip the first record if (previousGravityVector == null) { previousGravityVector = record; continue; } LineString clusterSegment = new LineString(); clusterSegment.AltitudeMode = AltitudeMode.ClampToGround; clusterSegment.Coordinates = new CoordinateCollection(); bool newCluster = false; if (currentClusterIndex != record.ClusterIndex) { currentClusterIndex = record.ClusterIndex; folder = new Folder(); folder.Name = "Cluster " + currentClusterIndex.ToString(); rootFolder.AddFeature(folder); newCluster = true; } if (!newCluster) { clusterSegment.Coordinates.Add(new Vector(previousGravityVector.Latitude, previousGravityVector.Longitude)); } clusterSegment.Coordinates.Add(new Vector(record.Latitude, record.Longitude)); Placemark placemark = new Placemark(); placemark.AddStyle(new Style() { Line = new LineStyle() { PhysicalWidth = record.DistanceMedian, Color = GetColorFromSpeed(record.SpeedOverGround), } }); placemark.Geometry = clusterSegment; placemark.Name = $"Grid: {record.GridId} / Distance: {record.DistanceMedian} / Speed: {record.SpeedOverGround} / Course: {record.CourseOverGround}"; folder.AddFeature(placemark); // Do this last! previousGravityVector = record; previousClusterSegment = clusterSegment; } kml.Feature = rootFolder; serializer.Serialize(kml); File.WriteAllText(kmlFileName, serializer.Xml); processedFiles++; } catch (Exception e) { Log.Error(e); } if (processedFiles % 5 == 0) { Log.Debug($"Processed {processedFiles}/{fileCount} files ({((double)processedFiles / (double)fileCount).ToString("0.00%")}) for a total of {accRecords} records"); } }); } else { Log.Debug("Path not found: " + path); } } else { Log.Debug("You must specify --path"); } Log.Debug("Done!"); }