/// <summary>
/// Providing conversrion for the single stream constructor
/// </summary>
/// <param name="dataStream"></param>
/// <returns></returns>
private static List <VelodyneDataStream> ToDataStreamList(VelodyneDataStream dataStream)
{
List <VelodyneDataStream> velodyneDataStreams = new List <VelodyneDataStream>();
velodyneDataStreams.Add(dataStream);
return(velodyneDataStreams);
}
private void dataStreamList_DoubleClick(object sender, EventArgs e)
{
DataStream dataStream = (DataStream)dataStreamList.SelectedItem;
if (dataStream.DataLines.Count == 0)
{
Logger.WriteLineWarning("No file for " + dataStream.ShortName);
MessageBox.Show("No file for " + dataStream.ShortName, "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (dataStreamList.SelectedItem is VideoDataStream)
{
VideoDataStream videoDataStream = dataStreamList.SelectedItem as VideoDataStream;
VideoStreamWnd wnd = new VideoStreamWnd(videoDataStream, Logger);
wnd.MdiParent = this.MdiParent;
wnd.Show();
}
else if (dataStreamList.SelectedItem is ImageDataStream)
{
ImageDataStream imageDataStream = dataStreamList.SelectedItem as ImageDataStream;
ImageStreamWnd wnd = new ImageStreamWnd(imageDataStream, Logger);
wnd.MdiParent = this.MdiParent;
wnd.Show();
}
else if (dataStreamList.SelectedItem is VelodyneDataStream)
{
VelodyneDataStream velodyneDataStream = dataStreamList.SelectedItem as VelodyneDataStream;
if (velodyneDataStream.HasIndexedFiles() == false)
{
DialogResult result = MessageBox.Show("No index file for " + dataStream.ShortName + "! Do you want to create index file?", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning);
if (result == DialogResult.No)
{
return;
}
ConvertVelodyneDataStream(velodyneDataStream);
}
else
{
VelodyneStreamWnd wnd = new VelodyneStreamWnd(velodyneDataStream, Logger);
wnd.MdiParent = this.MdiParent;
wnd.Show();
}
}
else if (dataStreamList.SelectedItem is GPSDataStream)
{
GPSDataStream gpsDataStream = dataStreamList.SelectedItem as GPSDataStream;
GPSDataStreamWnd wnd = new GPSDataStreamWnd(gpsDataStream, Logger);
wnd.MdiParent = this.MdiParent;
wnd.Show();
}
}
/// <summary>
/// Convert Velodyne data stream into internal format
/// </summary>
/// <param name="velodyneDataStream"></param>
private void ConvertVelodyneDataStream(VelodyneDataStream velodyneDataStream)
{
MainForm form = (MainForm)this.MdiParent;
ProgressBarWnd wnd = new ProgressBarWnd();
wnd.Text = "Conversion: " + velodyneDataStream.ShortName;
// create multiple logger
List <ILogger> loggers = new List <ILogger>();
loggers.Add(Logger);
loggers.Add(wnd);
MultipleLogger logger = new MultipleLogger(loggers);
wnd.Worker.DoWork += delegate(object senderWorker, DoWorkEventArgs eWorker)
{
foreach (VelodyneDataLine dataLine in velodyneDataStream.DataLines)
{
VelodyneConverter converter = VelodyneConverter.Create(form.Project.Folder + "\\" + velodyneDataStream.SubFolder + "\\" + dataLine.PcapLocation);
converter.ProgressReport += delegate(object senderReport, ProgressReportEventArgs argsReport)
{
logger.WriteLineInfo(argsReport.CurrentDataTime.ToString("yyy-MM-dd hh:mm:ss") + " " + argsReport.ReadBytes / 1000000 + " MB " + argsReport.Precentage.ToString("0.00") + "%" + Environment.NewLine);
logger.WriteProgress(argsReport.Precentage);
};
try
{
converter.Convert(wnd.CancelTokenSource.Token);
}
catch (OperationCanceledException)
{
// TODO: clean up files!
}
catch (Exception ex)
{
logger.WriteLineInfo("Error occured: " + ex.Message);
}
}
};
wnd.Worker.RunWorkerCompleted += delegate(object senderWorker, RunWorkerCompletedEventArgs eWorker)
{
logger.WriteLineInfo("Conversion done.");
logger.WriteProgress(100);
};
wnd.ShowDialog();
}
public static Project Load(String folder, ILogger logger = null, CancellationToken cancelletionToken = default(CancellationToken))
{
var stream = File.OpenRead(folder + "\\" + MetadataFolder + "\\project.bin");
var formatter = new BinaryFormatter();
Project project = (Project)formatter.Deserialize(stream);
stream.Close();
project.Folder = folder;
project.CreateFolderIfNotExists(MetadataFolder);
project.CreateFolderIfNotExists(GeorefFolder);
project.CreateFolderIfNotExists(LiDARFrameFolder);
// update transformation matrices for sensors
foreach (DataStream dataStream in project.DataStreams)
{
cancelletionToken.ThrowIfCancellationRequested();
if (dataStream is VelodyneDataStream)
{
var filePath = folder + "\\" + GeorefFolder + "\\" + dataStream.ShortName + "_Tp.txt";
if (File.Exists(filePath))
{
VelodyneDataStream velodyneDataStream = dataStream as VelodyneDataStream;
CsvReader reader = new CsvReader(filePath, false);
var Tp = reader.ToMatrix();
velodyneDataStream.Tp = Tp;
logger?.WriteLineInfo(dataStream.ShortName + ": sensor-platform transformation matrix file is loaded!");
}
else
{
logger?.WriteLineWarning(dataStream.ShortName + ": sensor-platform transformation matrix file does not exist: " + filePath);
}
}
}
return(project);
}
public VeloFeature(VelodyneDataStream dataStream) : this()
{
this.DataStream = dataStream;
}
public VelodyneStreamWnd(VelodyneDataStream dataStream, ILogger logger) : this(ToDataStreamList(dataStream), logger)
{
}
