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();
}
}
public void SampleLiDAR(DateTime timeStamp, LiDARTransformType type = LiDARTransformType.None)
{
foreach (Form form in this.MdiChildren)
{
if ((!form.IsDisposed) && (form is VelodyneStreamWnd))
{
VelodyneStreamWnd veloForm = form as VelodyneStreamWnd;
veloForm.SetFrameByTime(timeStamp);
List <VelodynePoint> pts = veloForm.GetPoints();
if (pts.Count() == 0)
{
continue;
}
double[,] ptsMat = Matrix.Create <double>(4, pts.Count(), 0);
for (int i = 0; i < pts.Count(); i++)
{
ptsMat[0, i] = pts[i].X;
ptsMat[1, i] = pts[i].Y;
ptsMat[2, i] = pts[i].Z;
ptsMat[3, i] = 1;
}
var veloStream = veloForm.DataStream as VelodyneDataStream;
if ((veloStream.Tp == null) && (type != LiDARTransformType.None))
{
this.ConsoleLogger.WriteLineWarning("Transfromation matrix for " + veloStream.ShortName + " is not avaialble!");
continue;
}
double[,] convPts = null;
if (type == LiDARTransformType.None)
{
convPts = ptsMat;
}
else if (type == LiDARTransformType.TransformToPlatform)
{
convPts = veloStream.Tp.Dot(ptsMat);
}
else if (type == LiDARTransformType.TransformToGlobal)
{
throw new NotImplementedException();
}
var hotFrameSubfix = timeStamp.ToString("HHmmss");
var saveTo = this.Project.Folder + "\\" + Project.LiDARFrameFolder + "\\LiDAR_" + hotFrameSubfix + "_" + veloStream.ShortName + ".txt";
TextWriter tw = new StreamWriter(saveTo);
for (int i = 0; i < convPts.Columns(); i++)
{
for (int j = 0; j < 3; j++)
{
tw.Write(convPts[j, i] + " ");
}
tw.Write(pts[i].Intensity);
tw.WriteLine();
}
tw.Close();
}
}
}
