public Pnt(LasFile lasFile, LasFile.PDRF1 rec)
{
LasFileRef = lasFile;
X = ((double)rec.X * (double)lasFile.Header.XScaleFactor) + (double)lasFile.Header.XOffset;
Y = ((double)rec.Y * (double)lasFile.Header.YScaleFactor) + (double)lasFile.Header.YOffset;
Z = ((double)rec.Z * (double)lasFile.Header.ZScaleFactor) + (double)lasFile.Header.ZOffset;
Intensity = (float)rec.Intensity;
Time = GetFromGps(Convert.ToDouble("1" + rec.GPSTime));
//Console.WriteLine();
}
private void Button_Colorize_Click(object sender, EventArgs e)
{
ValidateForm();
Cursor = Cursors.WaitCursor;
if (button_Colorize.Enabled == true)
{
int gpsWeek = GetWeek(dateTime_ScanDate.Value);
DateTime date = dateTime_ScanDate.Value;
double adjAng = (double)Properties.Settings.Default.setting_CamAngle;
//Get the SBET data
tool_Status.Text = "Loading Sbet Data";
tool_Status.Visible = true;
this.Refresh();
SbetRecsList ledger;
if (!string.IsNullOrEmpty(text_CamEventsFile.Text))
{
//Use the camera timed events to only load relevant data in the ledger
ledger = new SbetRecsList(text_SbetInput.Text, text_CamEventsFile.Text, (int)numeric_LeapSecs.Value, gpsWeek, combo_CoordSys.Text);
}
else
{
//Load everything
ledger = new SbetRecsList(text_SbetInput.Text, (int)numeric_LeapSecs.Value, gpsWeek, combo_CoordSys.Text);
}
//Ledger loaded, get the pics
tool_Status.Text = "Loading Panoramic files";
this.Refresh();
bool picsError = false;
Parallel.ForEach(Directory.GetFiles(text_PicsInputFolder.Text, "*.png", SearchOption.TopDirectoryOnly), (f, state) =>
{
if (picsError == false)
{
PanoPic newPic = new PanoPic(f, (int)numeric_TimeOffset.Value, (double)numeric_TimeScaleFact.Value);
newPic.SbetRecord = ledger.GetClosestRecord(newPic.UtcTime);
Matrix3D yawC = NewRotateAroundZ(newPic.SbetRecord.yaw + DegreeToRadian((double)numeric_YawOffset.Value));
Matrix3D pitchC = NewRotateAroundX(newPic.SbetRecord.pitch + DegreeToRadian((double)numeric_PitchOffset.Value));
Matrix3D rollC = NewRotateAroundY(newPic.SbetRecord.roll + DegreeToRadian((double)numeric_RollOffset.Value));
Matrix3D newMatrix = yawC * rollC * pitchC;
Point3D oSet = new Point3D((double)numeric_XOffset.Value, (double)numeric_YOffset.Value, (double)numeric_ZOffset.Value);
Point3D test = Point3D.Multiply(oSet, newMatrix);
newPic.CamCentre = new Point3D(newPic.SbetRecord.XYZ.X + test.X, newPic.SbetRecord.XYZ.Y + test.Y, newPic.SbetRecord.XYZ.Z + test.Z);
lock (pics)
{
try
{
pics.Add(newPic.UtcTime, newPic);
}
catch (Exception)
{
pics.TryGetValue(newPic.UtcTime, out PanoPic res);
MessageBox.Show("Time data is the same for " + Path.GetFileName(newPic.PicPath) + " and " + Path.GetFileName(res.PicPath) + "Processing will stop", "Duplicate data file", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
picsError = true;
state.Break();
}
}
}
});
if (picsError == false)
{
//Start preparing the points batch processing
List <string> files = text_PtsInput.Lines.ToList();
files.RemoveAll(str => String.IsNullOrEmpty(str));
tool_Progress.Maximum = files.Count;
tool_Progress.Minimum = 0;
tool_Progress.Value = 0;
tool_Progress.Visible = true;
this.Refresh();
foreach (string pointfile in files)
{
tool_Status.Text = "processing " + Path.GetFileName(pointfile);
this.Refresh();
//init the point list
ConcurrentQueue <Pnt> points = new ConcurrentQueue <Pnt>();
if (Path.GetExtension(pointfile).ToUpper() == ".LAS")
{
//Read the las file
LasFile lasFile = new LasFile(pointfile);
Parallel.ForEach(lasFile.Records, (s) => { points.Enqueue(new Pnt(lasFile, s)); });
}
else
{
List <string> ptStr = new List <string>();
//Read all the points
using (System.IO.StreamReader sr = new System.IO.StreamReader(pointfile))
{
string line;
while ((line = sr.ReadLine()) != null)
{
ptStr.Add(line);
}
}
Parallel.ForEach(ptStr, (s) => { points.Enqueue(new Pnt(s, date)); });
}
string picError = "false";
//For each point, find the closest picture in time
Parallel.ForEach(points, (pt, state) =>
{
if (picError == "true")
{
state.Break();
}
else
{
PanoPic refpic = GetClosestKey(pt.Time, pics).Value;
if (refpic == null)
{
lock (picError) { picError = "true"; }
//missing picture
state.Break();
Console.WriteLine("failed to find a picture for " + pt.Time.ToLongDateString());
}
else
{
//Add the point to the closest image in time
lock (refpic) { refpic.PicPoints.Add(pt); }
pt.RefPic = refpic;
}
}
});
if (picError == "true")
{
MessageBox.Show("At least one part of the dataset doesn't have picture data" + Environment.NewLine + "Processing will now stop", "Insufficient Picture data", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else
{
//Colorize per pic
foreach (var p in pics)
{
if (p.Value.PicPoints.Count > 0)
{
p.Value.InitBitmap();
int pWid = p.Value.bit.Width;
int pHei = p.Value.bit.Height;
Matrix3D yawM = NewRotateAroundZ(p.Value.SbetRecord.yaw + DegreeToRadian(adjAng) + (double)numeric_YawOffset.Value);
Matrix3D pitchM = NewRotateAroundX(((-1) * p.Value.SbetRecord.pitch) + (double)numeric_PitchOffset.Value);
Matrix3D rollM = NewRotateAroundY(((-1) * p.Value.SbetRecord.roll) + (double)numeric_RollOffset.Value);
Matrix3D combined = yawM * rollM * pitchM;
_ = Parallel.ForEach(p.Value.PicPoints, (pt) =>
{
Point3D newPoint = new Point3D(pt.X - p.Value.CamCentre.X, pt.Y - p.Value.CamCentre.Y, pt.Z - p.Value.CamCentre.Z);
Point3D trPoint = Point3D.Multiply(newPoint, combined);
double m, n;
double hWid = (double)pWid / 2;
double hPi = Math.PI / 2;
if (trPoint.X > 0)
{
double temp = (hPi - Math.Atan(trPoint.Y / trPoint.X)) / (Math.PI * 2);
m = hWid + (temp * ((double)pWid - 1));
}
else
{
double temp = (hPi + Math.Atan(trPoint.Y / trPoint.X)) / (Math.PI * 2);
m = hWid - (temp * ((double)pWid - 1));
}
double tmpAtan = Math.Atan(trPoint.Z / Math.Sqrt(Math.Pow(trPoint.X, 2) + Math.Pow(trPoint.Y, 2)));
n = (pHei - 1) * (0.5 - (tmpAtan / Math.PI));
int xP = Convert.ToInt32(m);
int yP = (Convert.ToInt32(n));
//check if the point is in a shadow area
if (polyPts.Count > 3)
{
if (IsPointInPolygon(new PointF((float)xP / (float)pWid, (float)yP / (float)pHei), polyPts.ToArray()))
{
//Move the point to the next picture
int index = pics.IndexOfKey(p.Key) + 1;
if (index > pics.Count - 1)
{
index -= 1;
lock (p.Value.bit) { pt.Color = p.Value.bit.GetPixel(xP, yP); }
}
else
{
PanoPic nextPic = pics.Values[index];
lock (nextPic) { nextPic.PicPoints.Add(pt); }
pt.RefPic = nextPic;
}
}
else
{
lock (p.Value.bit) { pt.Color = p.Value.bit.GetPixel(xP, yP); }
}
}
else
{
lock (p.Value.bit) { pt.Color = p.Value.bit.GetPixel(xP, yP); }
}
});
}
}
tool_Status.Text = "processing complete for" + Path.GetFileName(pointfile) + ", writing output";
this.Refresh();
bool intLast = (bool)Properties.Settings.Default.setting_XYZRGBI;
List <string> contents = new List <string>();
Parallel.ForEach(pics, (p) =>
{
if (p.Value.PicPoints.Count > 0)
{
List <string> tmpContents = new List <string>();
foreach (Pnt pt in p.Value.PicPoints)
{
if (pt.RefPic == p.Value)
{
if (intLast == true)
{
lock (contents) { tmpContents.Add(pt.X.ToString() + " " + pt.Y.ToString() + " " + pt.Z.ToString() + " " + pt.Color.R + " " + pt.Color.G + " " + pt.Color.B + " " + pt.Intensity.ToString()); }
}
else
{
lock (contents) { tmpContents.Add(pt.X.ToString() + " " + pt.Y.ToString() + " " + pt.Z.ToString() + " " + pt.Intensity.ToString() + " " + pt.Color.R + " " + pt.Color.G + " " + pt.Color.B); }
}
}
}
if (check_PerPic.Checked)
{
File.WriteAllLines(text_OutputFolder.Text + @"\" + Path.GetFileNameWithoutExtension(pointfile) + "-" + Path.GetFileNameWithoutExtension(p.Value.PicPath) + ".pts", tmpContents);
}
else
{
lock (contents)
{
contents.AddRange(tmpContents);
}
}
List <Pnt> swapQueue = new List <Pnt>();
p.Value.PicPoints = swapQueue;
tmpContents.Clear();
}
if (p.Value.bit != null)
{
p.Value.bit.Dispose();
}
});
if (!check_PerPic.Checked)
{
File.WriteAllLines(text_OutputFolder.Text + @"\" + Path.GetFileNameWithoutExtension(pointfile) + ".pts", contents.ToArray());
contents.Clear();
}
tool_Progress.Value += 1;
}
}
}
tool_Progress.Visible = false;
tool_Progress.Value = 0;
tool_Status.Text = "Processing complete!";
MessageBox.Show("Processing complete", "Done", MessageBoxButtons.OK, MessageBoxIcon.Information);
this.Refresh();
OpenFolder(text_OutputFolder.Text);
Application.Exit();
}
else
{
MessageBox.Show("Errors found, please review the parameters", "Processing aborted", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
Cursor = Cursors.Default;
}
