public GPSDataStreamWnd(GPSDataStream dataStream, ILogger logger)
{
InitializeComponent();
this.dataStream = dataStream;
this.MainForm = (MainForm)this.MdiParent;
this.logger = logger;
if ((dataStream.Positions == null) || dataStream.Positions.Count() == 0)
{
dataStream.LoadPositionFile(logger);
}
InitMap();
// seek to first GPS fix
int i = 0;
foreach (GPSPositionDataLine dataLine in dataStream.Positions)
{
if (dataLine.Quality == 1)
{
SetFrame(i);
break;
}
i++;
}
}
public static void Create(Project project, ILogger logger, CancellationToken cancelletionToken = default(CancellationToken))
{
logger.WriteLineInfo("----------------------------------");
logger.WriteLineInfo(" CAR METADATA file v0.1");
logger.WriteLineInfo(" The Ohio State University, 2017");
logger.WriteLineInfo("----------------------------------");
logger.WriteLineInfo(" ");
logger.WriteLineInfo(" ");
int pi = 0;
foreach (DataStream dataStream in project.DataStreams)
{
pi++;
cancelletionToken.ThrowIfCancellationRequested();
logger.WriteProgress((double)pi / (double)project.DataStreams.Count() * 100.0);
dataStream.WriteMetadata(logger);
}
PrintSummary(project, logger);
logger.WriteLineInfo(" ");
logger.WriteLineInfo("Checking: ");
// Checking Nikon's Novatel MARKTIMEA
ImageDataStream nikonDataStream = (ImageDataStream)project.GetDataStreamByShortName("NIKON");
NovatelDataStream novatelDataStream = (NovatelDataStream)project.GetDataStreamByShortName("NOVATEL");
CheckEvents(nikonDataStream, novatelDataStream, EvenMarkerDataLine.MarkerEventPort.Unknown, logger);
/*if ((nikonDataStream != null) && (novatelDataStream != null))
* {
* if (nikonDataStream.NumOfFiles != novatelDataStream.MarkerEvents.Count())
* {
* logger.WriteLineInfo("WRONG -- Number of #MARKTIME events from the Novatel ASC and the number of Nikon images are different!");
* logger.WriteLineWarning("Number of #MARKTIME events from the Novatel ASC and the number of Nikon images are different!");
* }
* else
* {
* logger.WriteLineInfo("OK -- Number of #MARKTIME events from the Novatel ASC and the number of Nikon images !");
* }
* }*/
// Checking Sony's Septentrio MARKTIME
ImageDataStream son1DataStream = (ImageDataStream)project.GetDataStreamByShortName("SON1");
ImageDataStream son2DataStream = (ImageDataStream)project.GetDataStreamByShortName("SON2");
GPSDataStream septDataStream = (GPSDataStream)project.GetDataStreamByShortName("SEPT");
CheckEvents(son1DataStream, septDataStream, EvenMarkerDataLine.MarkerEventPort.EventA, logger);
CheckEvents(son2DataStream, septDataStream, EvenMarkerDataLine.MarkerEventPort.EventB, logger);
logger.Flush();
}
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 static void CheckEvents(ImageDataStream imgDataStream, GPSDataStream gpsDataStream, EvenMarkerDataLine.MarkerEventPort port, ILogger logger)
{
if ((imgDataStream != null) && (gpsDataStream != null))
{
if (imgDataStream.DataLines.Count() == 0)
{
return;
}
DateTime startTime = imgDataStream.StartTime - TimeSpan.FromMinutes(5);
DateTime endTime = imgDataStream.EndTime + TimeSpan.FromMinutes(5);
int numMarkers = 0;
// check events and image numbers
foreach (EvenMarkerDataLine evnt in gpsDataStream.MarkerEvents)
{
if ((startTime <= evnt.TimeStamp) && (evnt.TimeStamp <= endTime) && (evnt.Port == port))
{
numMarkers++;
}
}
if (imgDataStream.NumOfData != numMarkers)
{
logger.WriteLineWarning("Number of events from the " + gpsDataStream.ShortName + " and the number of " + imgDataStream.ShortName + " images are different!");
logger.WriteLineWarning("Number of images: " + imgDataStream.NumOfData);
logger.WriteLineWarning("Number of markers: " + numMarkers);
}
else
{
logger.WriteLineInfo("OK -- Number of events from the " + gpsDataStream.ShortName + " and the number of " + imgDataStream.ShortName + " images are same");
logger.WriteLineInfo("Number of images: " + imgDataStream.NumOfData);
logger.WriteLineInfo("Number of markers: " + numMarkers);
}
}
}
private void syncToNOVATELToolStripMenuItem_Click(object sender, EventArgs e)
{
logger.WriteLineInfo(" ");
logger.WriteLineInfo("Matching NIKON images to NOVATEL EVNT timestamps");
GPSDataStream novatel = project.DataStreams.Find(x => x.ShortName == "NOVATEL") as GPSDataStream;
if (dataStream == null)
{
logger.WriteLineError("Cannot find NIKON datastream in the project!");
return;
}
DateTime startTime = dataStream.StartTime - TimeSpan.FromMinutes(2);
DateTime endTime = dataStream.EndTime + TimeSpan.FromMinutes(2);
int numMarkers = 0;
// check events and image numbers
foreach (EvenMarkerDataLine evnt in novatel.MarkerEvents)
{
if ((startTime <= evnt.TimeStamp) && (evnt.TimeStamp <= endTime))
{
numMarkers++;
}
}
if (dataStream.ShortName != "NIKON")
{
logger.WriteLineWarning("This is not NIKON stream! This method is developed for NIKON!");
}
if (numMarkers != novatel.MarkerEvents.Count)
{
logger.WriteLineError("No of marker events does not match with NIKON images!");
logger.WriteLineError("# of NIKON images: " + dataStream.DataLines.Count);
logger.WriteLineError("# of NOVATEL EVNT: " + novatel.MarkerEvents.Count);
return;
}
logger.WriteLineInfo("# of NIKON images: " + dataStream.DataLines.Count);
logger.WriteLineInfo("# of NOVATEL EVNT: " + novatel.MarkerEvents.Count);
logger.WriteLineInfo("Start dT [s]=" + (new TimeSpan(dataStream.DataLines[0].TimeStamp.Ticks - novatel.MarkerEvents[0].TimeStamp.Ticks)).TotalSeconds);
//logger.WriteLineInfo("End dT [s]=" + (new TimeSpan(dataStream.DataLines[dataStream.DataLines.Count-1].TimeStamp.Ticks - novatel.MarkerEvents[dataStream.DataLines.Count-1].TimeStamp.Ticks)).TotalSeconds);
double[] dts = new double[novatel.MarkerEvents.Count];
for (int i = 0; i < novatel.MarkerEvents.Count; i++)
{
if ((startTime <= novatel.MarkerEvents[i].TimeStamp) && (novatel.MarkerEvents[i].TimeStamp <= endTime))
{
try
{
dts[i] = Math.Abs((new TimeSpan(dataStream.DataLines[0].TimeStamp.Ticks - novatel.MarkerEvents[0].TimeStamp.Ticks)).TotalSeconds);
dataStream.DataLines[i].TimeStamp = novatel.MarkerEvents[i].TimeStamp;
dataStream.DataLines[i].TimeType = TimeType.GPS;
}
catch (Exception ex)
{
throw ex;
}
}
}
this.dataStream.OrderDataLines();
logger.WriteLineInfo("Average dT [s]= " + dts.Average());
logger.WriteLineInfo("Maximum dT [s]= " + dts.Max());
logger.WriteLineInfo("Minimum dT [s]= " + dts.Min());
logger.WriteLineInfo("Done");
}
public async static Task Export(String filename, Project project, ILogger logger = null, CancellationToken cancelletionToken = default(CancellationToken))
{
logger?.WriteLineInfo("");
logger?.WriteLineInfo("Saving project into MAT file!");
logger?.WriteLineInfo("MAT file location: " + filename);
List <MLArray> mlList = new List <MLArray>();
int pi = 0;
foreach (DataStream dataStream in project.DataStreams)
{
pi++;
cancelletionToken.ThrowIfCancellationRequested();
logger?.WriteLineInfo("Exporting " + dataStream.ShortName + " datastream...");
logger?.WriteProgress((double)pi / (double)project.DataStreams.Count() * 100.0);
MLStructure structDataStream = new MLStructure(dataStream.ShortName, new int[] { 1, 1 });
structDataStream["Name", 0] = new MLChar(null, dataStream.Name);
structDataStream["ShortName", 0] = new MLChar(null, dataStream.ShortName);
if (dataStream.DataLines.Count > 0)
{
// DataLines
MLCell arrayDataLines = new MLCell("DataLines", new int[] { dataStream.DataLines.Count, 1 });
int k = 0;
foreach (DataLine dataLine in dataStream.DataLines)
{
MLStructure structDataLine = new MLStructure(dataStream.ShortName, new int[] { 1, 1 });
structDataLine["Timestamp", 0] = new MLDouble("", new double[] { Utils.ConvertToUnixTimestamp(dataLine.TimeStamp) }, 1);
structDataLine["TimestampC", 0] = ConvertDateTimeToMLDouble(dataLine.TimeStamp);
if (dataLine is ImageDataLine)
{
structDataLine["ImageFileName", 0] = new MLChar(null, (dataLine as ImageDataLine).ImageFileName);
}
if (dataLine is VideoDataLine)
{
structDataLine["VideoFileName", 0] = new MLChar(null, (dataLine as VideoDataLine).VideoFileName);
}
arrayDataLines[k] = structDataLine;
k++;
}
structDataStream["DataLines", 0] = arrayDataLines;
}
if (dataStream is GPSDataStream)
{
GPSDataStream gpsDataStream = dataStream as GPSDataStream;
// Event Marker
if (gpsDataStream.MarkerEvents.Count > 0)
{
MLCell arrayMarkerEvents = new MLCell("MarkerEvents", new int[] { gpsDataStream.MarkerEvents.Count, 1 });
int k = 0;
foreach (EvenMarkerDataLine evnt in gpsDataStream.MarkerEvents)
{
MLStructure structEventMarkers = new MLStructure(dataStream.ShortName, new int[] { 1, 1 });
structEventMarkers["Timestamp", 0] = new MLDouble("", new double[] { (double)evnt.TimeStamp.Ticks }, 1);
structEventMarkers["TimestampC", 0] = ConvertDateTimeToMLDouble(evnt.TimeStamp);
structEventMarkers["Port", 0] = new MLChar(null, evnt.Port.ToString());
arrayMarkerEvents[k] = structEventMarkers;
k++;
}
structDataStream["MarkerEvents", 0] = arrayMarkerEvents;
}
// Positions
if (gpsDataStream.Positions.Count > 0)
{
double[][] points = new double[gpsDataStream.Positions.Count][];
int k = 0;
foreach (GPSPositionDataLine pt in gpsDataStream.Positions)
{
points[k] = new double[5];
points[k][0] = Utils.ConvertToUnixTimestamp(pt.TimeStamp);
points[k][1] = pt.Lat;
points[k][2] = pt.Lon;
points[k][3] = pt.Height;
points[k][4] = pt.Quality;
k++;
}
MLDouble arrayPoints = new MLDouble("Points", points);
structDataStream["Points", 0] = arrayPoints;
}
}
mlList.Add(structDataStream);
}
try
{
MatFileWriter mfw = new MatFileWriter(filename, mlList, false);
}
catch (Exception ex)
{
logger?.WriteLineError("Error occured: " + ex.ToString());
return;
}
logger?.WriteLineInfo("MAT file location: " + filename);
logger?.WriteLineInfo("Done.");
}
public void UpdateGraph()
{
GraphPane myPane = timeLineGraph.GraphPane;
int dataStreamCount = 1;
foreach (DataStream dataStream in project.DataStreams)
{
Color clr = Color.Black;
if (dataStream is GPSDataStream)
{
clr = Color.Green;
}
if (dataStream is MicroStrainDataStream)
{
clr = Color.GreenYellow;
}
if (dataStream is ImageDataStream)
{
clr = Color.Blue;
}
if (dataStream is PointGreyDataStream)
{
clr = Color.DarkBlue;
}
if (dataStream is VideoDataStream)
{
clr = Color.Red;
}
if (dataStream is VelodyneDataStream)
{
clr = Color.DarkGray;
}
if (dataStream is GPSDataStream)
{
PointPairList ptList = new PointPairList();
GPSDataStream gpsDataStream = (GPSDataStream)dataStream;
foreach (EvenMarkerDataLine evnt in gpsDataStream.MarkerEvents)
{
//if (evnt.Port == EvenMarkerDataLine.MarkerEventPort.EventB)
//{
//ptList.Add(new PointPair((new TimeSpan(evnt.TimeStamp.Ticks)).TotalSeconds, dataStreamCount));
ptList.Add(new XDate(evnt.TimeStamp.ToOADate()), dataStreamCount);
//}
}
if (ptList.Count() > 0)
{
TextObj text = new TextObj(dataStream.ShortName + " EVNT", ptList[0].X, ptList[0].Y, CoordType.AxisXYScale, AlignH.Right, AlignV.Center);
text.FontSpec.Size = 8f;
text.ZOrder = ZOrder.A_InFront;
text.FontSpec.Border.IsVisible = false;
text.FontSpec.Fill.IsVisible = false;
text.FontSpec.FontColor = clr;
myPane.GraphObjList.Add(text);
LineItem myCurve = myPane.AddCurve(dataStream.ShortName + " (" + dataStreamCount + ")", ptList, clr, SymbolType.Circle);
myCurve.Line.IsVisible = false;
myCurve.Symbol.Fill = new Fill(clr);
myCurve.Symbol.Size = 2;
dataStreamCount++;
}
}
if (dataStream.DataLines.Count() == 0)
{
continue;
}
if (dataStream.DataLines[0] is LongFileDataLine)
{
bool isFirst = true;
foreach (LongFileDataLine evnt in dataStream.DataLines)
{
PointPairList ptList = new PointPairList();
//ptList.Add(new PointPair((new TimeSpan(evnt.TimeStamp.Ticks)).TotalSeconds, dataStreamCount));
//ptList.Add(new PointPair((new TimeSpan(evnt.TimeStamp.Ticks)).TotalSeconds + evnt.Length.TotalSeconds, dataStreamCount));
ptList.Add(new XDate(evnt.TimeStamp.ToOADate()), dataStreamCount);
ptList.Add(new XDate(evnt.TimeStamp.AddSeconds(evnt.Length.TotalSeconds).ToOADate()), dataStreamCount);
LineItem lineItem;
if (isFirst)
{
lineItem = myPane.AddCurve(dataStream.ShortName + " (" + dataStreamCount + ")", ptList, clr, SymbolType.Circle);
isFirst = false;
TextObj text = new TextObj(dataStream.ShortName, ptList[0].X, ptList[0].Y, CoordType.AxisXYScale, AlignH.Right, AlignV.Center);
text.FontSpec.Size = 8f;
text.ZOrder = ZOrder.A_InFront;
text.FontSpec.Border.IsVisible = false;
text.FontSpec.Fill.IsVisible = false;
text.FontSpec.FontColor = clr;
myPane.GraphObjList.Add(text);
}
else
{
lineItem = myPane.AddCurve(null, ptList, clr, SymbolType.Circle);
}
lineItem.Line.Style = DashStyle.Solid;
lineItem.Line.Width = 2;
lineItem.Color = clr;
lineItem.Symbol.Fill = new Fill(clr);
lineItem.Symbol.Size = 3;
}
dataStreamCount++;
}
else
{
PointPairList ptList = new PointPairList();
foreach (DataLine evnt in dataStream.DataLines)
{
//ptList.Add(new PointPair((new TimeSpan(evnt.TimeStamp.Ticks)).TotalSeconds, dataStreamCount));
ptList.Add(new XDate(evnt.TimeStamp.ToOADate()), dataStreamCount);
}
LineItem myCurve = myPane.AddCurve(dataStream.ShortName + " (" + dataStreamCount + ")", ptList, clr, SymbolType.Circle);
myCurve.Line.IsVisible = false;
myCurve.Symbol.Fill = new Fill(clr);
myCurve.Symbol.Size = 2;
if (ptList.Count() > 0)
{
TextObj text = new TextObj(dataStream.ShortName, ptList[0].X, ptList[0].Y, CoordType.AxisXYScale, AlignH.Right, AlignV.Center);
text.FontSpec.Size = 8f;
text.ZOrder = ZOrder.A_InFront;
text.FontSpec.Border.IsVisible = false;
text.FontSpec.Fill.IsVisible = false;
text.FontSpec.FontColor = clr;
myPane.GraphObjList.Add(text);
dataStreamCount++;
}
}
}
// Set the XAxis to date type
myPane.XAxis.Type = AxisType.Date;
/*myPane.XAxis.Scale.MajorStep = 10;
* myPane.XAxis.Scale.MajorUnit = DateUnit.Minute;
* // tilt the x axis labels to an angle of 65 degrees
* myPane.XAxis.Scale.FontSpec.Angle = 65;
* myPane.XAxis.Scale.FontSpec.IsBold = false;
* //myPane.XAxis.Scale.FontSpec.Size = 12;
* myPane.XAxis.Scale.Format = "hh:mm:ss";*/
myPane.XAxis.Title.Text = "Time [UTC]";
myPane.YAxis.Title.Text = "Streams";
myPane.Legend.IsVisible = false;
timeLineGraph.AxisChange();
timeLineGraph.Invalidate();
}